DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 80 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  1 HEADING  -1 ROLL_MIN  300 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3750 ALTIM_TOP_TURN_MARGIN  0
DIVE  80 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2025 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  3
D_NO_BLEED  50 SM_CC  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  0 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  4 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0072730002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  500 MOTHERBOARD  5
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3500 DEVICE1  2
T_DIVE  470 CALL_TRIES  5 C_VBD  2500 DEVICE2  -1
T_MISSION  530 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  540 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERS  1
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -220795.03 UNCOM_BLEED  250 COMPASS_DEVICE  1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  2 VBD_MAXERRORS  5 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  300 GPS_DEVICE  48
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  200 RAFOS_DEVICE  48
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  450 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3300 FG_AHR_10V  70.599098 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2700 FG_AHR_24V  4.6384048 SEABIRD_T_G  0.0043498399
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.0006493734
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_YINT  -0.036699742 SEABIRD_T_I  2.8112627e-05
MASS  52000 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  9.9999997e-05 SEABIRD_T_J  3.1957888e-06
NAV_MODE  1 PITCH_GAIN  16 AD7714Ch0Gain  1 SEABIRD_C_G  -10.106751
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1366181
KALMAN_USE  1 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  0.00038917549
HD_A  0.0038000001 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  7.9540005e-05
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  2.7999999e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  164155,6655.723,-5812.932,16,1.1,16,18.0 TGT_NAME  HOLD
_CALLS  1 TGT_LATLONG  6400.000,-5448.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.096,-0.213
_SM_DEPTHo  0.05 KALMAN_X  7027.4,-922.3,-5674.5,8186.9,794.2
_SM_ANGLEo  -50.0 KALMAN_Y  9046.6,-818.6,-113.8,-2499.8,1687.9
GPS2  164719,6655.691,-5812.950,23,1.1,24,18.0 MHEAD_RNG_PITCHd_Wd  137.6,365456,-13.0,-7.021
SPEED_LIMITS  0.122,0.234 D_GRID  100

Post-dive calculations and measurements:
FINISH  0.1,1.012198 _24V_AH  23.9,241.232
SM_CCo  24650,0.00,0.000,0,0,605,465.82 _10V_AH  10.7,37.184
SM_GC  0.05,14.62,0.00,0.00,0.000,0.000,0.007,558,1884,605,-9.67,-4.24,465.82 FG_AHR_24Vo  4.638
SUPER  3,206,254,0,0,0 FG_AHR_10Vo  70.826
RAFOS_CLK  0 MEM  337116
RAFOS  3,1255019644,16.583334,16.567778,80,0,0,0,0,0,803,0,0,0,0,0 DATA_FILE_SIZE  75490,2278
RAFOS_FIX  6721.934082,-5644.469238,081009,202023,5,80,6.09 CAP_FILE_SIZE  290059,8
IRIDIUM_FIX  0.00,0.00,010170,000000 CFSIZE  260165632,246538240
HUMID  1078175575 ERRORS  0,0,0,0,0,0,0,0,1,0,0,27,1434,2,0
INTERNAL_PRESSURE  16.2546 SOUNDSPEED  1463.8
TCM_TEMP  15.00 GPS  081009,234112,6653.643,-5818.117,21,1.1,21,18.0
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2811981.06 SBE_CT137024785.95
Roll_motor28460408.22 nil000.00
VBD_pump_during_apogee550130017111.80 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer110223587.07
Transponder_ping000.00
GUMSTIX_24V000.00
GPS245012.97
TT8383219816.80
LPSleep167022412.84
TT8_Active128719274.52
TT8_Sampling2485391061.46
TT8_CF867545331.96
TT8_Kalman338129.23
Analog_circuits156712201.27
GPS_charging000.00
Compass236626658.34
RAFOS1800128.89
Transponder350.16

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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
25 -0.99 -146.6 0.0 0.0 0 91 0.00 0.00 -63.08 0.000 2 0.007 0.000 412 1835 2525 0 0 0 0 0 0
95 -0.99 -146.6 3.2 -2.3 13 132 10.62 2.65 -17.95 0.000 4 0.000 0.000 2546 200 3075 9 0 16 0 0 0
211 -0.69 -146.6 20.7 -18.2 34 221 0.00 4.05 -0.08 0.000 6 0.000 0.000 2542 2147 3068 0 0 24 0 0 0
418 -0.69 -146.6 49.0 -9.6 54 433 0.00 2.62 -0.95 0.000 4 0.000 0.000 2546 3787 3102 0 0 13 0 0 0
685 -0.69 -146.6 71.8 -9.3 77 693 0.00 3.30 0.00 0.007 6 0.007 0.000 2542 1779 3103 0 0 18 0 0 0
1001 end dive: TARGET_DEPTH_EXCEEDED
state 1001 begin apogee
1007 -0.31 0.0 100.3 9.0 107 1148 0.50 0.00 123.90 0.000 6 0.007 0.007 2702 2135 2503 0 0 0 0 1 0
1149 end apogee: CONTROL_FINISHED_OK
state 1149 begin climb
1154 0.99 146.6 113.0 0.0 121 1298 1.42 3.08 116.65 0.000 4 0.000 0.000 3039 470 1927 2 0 14 0 0 0
1550 2.78 625.8 146.2 -8.3 156 1833 1.33 4.15 261.12 0.000 6 0.000 0.000 3350 2162 618 1 0 24 0 1 0
2158 4.51 1087.5 196.7 -7.8 215 2173 0.00 3.25 0.25 0.000 4 0.007 0.000 3346 483 618 0 0 18 0 0 0
2426 5.08 1550.1 218.1 -7.8 238 2436 0.00 2.80 2.22 0.000 6 0.007 0.000 3349 2126 617 0 0 13 0 0 0
2761 5.64 1999.0 243.1 -7.4 270 2772 0.00 2.83 4.75 0.000 4 0.007 0.000 3348 554 603 0 0 11 0 0 0
3025 6.18 2442.7 263.0 -7.2 294 3041 0.00 2.95 1.20 0.000 6 0.007 0.000 3346 2102 608 0 0 14 0 0 0
3355 6.71 2872.9 286.1 -6.8 325 3371 0.00 3.03 0.15 0.007 4 0.007 0.000 3345 414 605 0 0 17 0 0 0
3623 7.22 3284.0 303.6 -6.1 348 3633 0.00 3.33 1.08 0.000 6 0.007 0.000 3347 2280 607 0 0 17 0 0 0
3958 7.77 3732.1 327.0 -7.3 380 3965 0.00 2.60 0.12 0.000 4 0.007 0.000 3355 3638 602 0 0 14 0 0 0
4037 8.34 4196.3 333.0 -7.8 386 4049 0.00 3.17 1.50 0.000 6 0.007 0.000 3349 1875 605 0 0 16 0 0 0
4374 8.85 4615.6 355.6 -6.4 418 4389 0.00 2.92 0.12 0.000 4 0.007 0.000 3348 190 603 0 0 17 0 0 0
4469 9.41 5067.3 363.1 -7.4 426 4484 0.00 4.60 0.03 0.007 6 0.007 0.000 3349 2222 605 0 0 24 0 0 0
4798 9.94 5499.4 383.7 -6.8 457 4814 0.00 3.38 0.15 0.007 4 0.007 0.000 3347 496 607 0 0 16 0 0 0
5067 10.50 5952.2 403.9 -7.5 480 5077 0.00 3.00 1.48 0.000 6 0.007 0.000 3345 2280 607 0 0 14 0 0 0
5401 11.03 6382.1 425.0 -6.7 512 5417 0.00 3.03 0.12 0.007 4 0.007 0.000 3349 305 605 0 0 16 0 0 0
5669 11.62 6860.2 446.3 -8.3 535 5679 0.00 3.53 0.80 0.000 6 0.007 0.000 3351 2210 603 0 0 17 0 0 0
6004 12.10 7253.4 467.0 -5.6 567 6020 0.00 3.28 0.12 0.000 4 0.007 0.000 3348 390 605 0 0 18 0 0 0
6223 12.61 7668.0 480.2 -6.3 586 6238 0.00 3.25 0.88 0.000 6 0.000 0.000 3348 2349 607 0 0 16 0 0 0
6552 13.11 8075.9 497.2 -6.0 617 6568 0.00 3.33 0.15 0.007 4 0.007 0.000 3346 379 606 0 0 16 0 0 0
6820 13.69 8546.1 517.5 -8.0 640 6830 0.00 2.92 1.40 0.000 6 0.007 0.000 3351 2208 605 0 0 17 0 0 0
7155 14.19 8955.6 538.8 -6.1 672 7161 0.00 2.75 0.00 0.007 4 0.000 0.000 3349 496 607 0 0 11 0 0 0
7315 14.68 9354.3 549.8 -5.7 685 7324 0.00 3.33 0.00 0.007 6 0.007 0.000 3349 2026 604 0 0 18 0 0 0
7649 15.24 9810.5 569.6 -7.6 717 7665 0.00 3.33 0.00 0.007 4 0.007 0.000 3348 247 603 0 0 19 0 0 0
7918 15.76 10226.3 586.6 -6.3 740 7927 0.00 3.40 0.00 0.007 6 0.007 0.000 3350 2188 607 0 0 17 0 0 0
8252 16.33 10697.0 610.2 -8.0 772 8258 0.00 2.47 0.00 0.007 4 0.000 0.000 3354 3638 606 0 0 13 0 0 0
8483 16.87 11133.1 627.9 -6.9 792 8500 0.00 3.42 0.00 0.007 6 0.007 0.000 3347 1837 607 0 0 16 0 0 0
8814 17.39 11557.6 650.2 -6.6 823 8820 0.00 2.70 0.00 0.007 4 0.000 0.000 3349 514 604 0 0 12 0 0 0
8982 17.93 11998.2 662.0 -7.1 837 8989 0.00 2.75 0.00 0.007 6 0.007 0.000 3348 2312 604 0 0 15 0 0 0
9309 18.50 12457.2 685.0 -7.7 868 9324 0.00 3.25 0.00 0.007 4 0.007 0.000 3347 461 605 0 0 13 0 0 0
9576 19.04 12894.6 705.5 -7.0 891 9585 0.00 3.00 0.00 0.007 6 0.007 0.000 3347 2143 604 0 0 15 0 0 0
9910 19.57 13330.5 728.2 -6.9 923 9925 0.00 3.17 0.00 0.007 4 0.007 0.000 3346 3631 605 0 0 15 0 0 0
10045 20.12 13773.9 737.3 -7.2 934 10056 0.00 3.72 0.00 0.007 6 0.007 0.000 3350 1757 607 0 0 19 0 0 0
10381 20.65 14208.2 761.7 -6.9 966 10387 0.00 2.40 0.00 0.007 4 0.000 0.000 3345 486 610 0 0 13 0 0 0
10640 21.20 14654.7 779.9 -7.3 988 10650 0.00 3.60 0.00 0.007 6 0.007 0.000 3351 2219 607 0 0 19 0 0 0
10975 21.78 15123.4 805.3 -8.0 1020 10990 0.00 2.88 0.00 0.007 4 0.007 0.000 3346 493 601 0 0 10 0 0 0
11242 22.35 15591.0 826.3 -8.0 1043 11249 0.00 2.62 0.00 0.007 6 0.007 0.000 3345 2142 609 0 0 12 0 0 0
11567 22.86 16005.9 848.2 -6.3 1074 11583 0.00 3.88 0.00 0.007 4 0.007 0.000 3345 425 604 0 0 20 0 0 0
11836 23.38 16422.4 864.2 -6.3 1097 11845 0.00 3.78 0.00 0.007 6 0.007 0.000 3347 2233 607 0 0 18 0 0 0
12170 23.92 16864.2 887.9 -7.1 1129 12185 0.00 2.95 0.12 0.007 4 0.000 0.000 3349 585 609 0 0 14 0 0 0
12191 24.46 17302.2 889.4 -7.0 1130 12201 0.00 3.45 0.80 0.000 6 0.007 0.000 3349 2046 605 0 0 18 0 0 0
12526 25.01 17751.6 913.2 -7.4 1162 12541 0.00 2.75 0.25 0.007 4 0.007 0.000 3349 471 608 0 0 12 0 0 0
12793 25.39 18062.0 927.5 -2.9 1185 12804 0.00 2.80 1.85 0.000 6 0.000 0.000 3349 2205 607 0 0 13 0 0 0
13129 25.10 18062.0 904.4 10.1 1217 13145 0.00 2.78 0.12 0.007 4 0.007 0.000 3349 431 597 0 0 15 0 0 0
13386 25.05 18062.0 879.4 7.4 1239 13396 0.00 3.60 0.90 0.000 6 0.007 0.000 3348 2207 608 0 0 18 0 0 0
13721 25.15 18071.2 853.9 6.7 1271 13739 0.00 3.53 0.12 0.007 4 0.007 0.000 3346 342 600 0 0 21 0 0 0
13991 25.04 18071.2 835.9 7.7 1294 14001 0.00 2.92 1.70 0.000 6 0.007 0.000 3347 2232 599 0 0 12 0 0 0
14326 25.44 18071.2 812.1 7.8 1326 14332 0.00 2.25 0.12 0.007 4 0.000 0.000 3347 3685 603 0 0 10 0 0 0
14416 25.35 18071.2 803.9 9.9 1333 14426 0.00 2.97 1.67 0.000 6 0.000 0.000 3349 1994 606 0 0 15 0 0 0
14751 25.35 18071.2 777.2 7.4 1365 14766 0.00 3.08 0.22 0.000 4 0.007 0.000 3348 283 614 0 0 15 0 0 0
15019 25.45 18079.4 757.9 6.8 1388 15028 0.00 3.50 0.82 0.000 6 0.007 0.000 3348 2163 604 0 0 14 0 0 0
15353 25.51 18129.7 735.2 5.4 1420 15369 0.00 3.28 0.15 0.007 4 0.000 0.000 3347 330 605 0 0 17 0 0 0
15549 25.53 18143.4 722.5 6.6 1437 15565 0.00 2.83 1.25 0.000 6 0.000 0.000 3347 2193 606 0 0 15 0 0 0
15878 25.53 18143.4 693.9 7.3 1468 15885 0.00 2.88 0.17 0.007 4 0.007 0.000 3346 502 609 0 0 13 0 0 0
16137 25.53 18143.4 674.3 7.6 1490 16148 0.00 2.97 2.03 0.000 6 0.007 0.000 3351 2184 609 0 0 14 0 0 0
16473 25.58 18143.4 649.5 7.4 1522 16489 0.00 3.03 0.22 0.000 4 0.007 0.000 3350 306 607 0 0 16 0 0 0
16741 25.60 18162.1 631.9 6.4 1545 16751 0.00 3.53 0.93 0.000 6 0.007 0.000 3347 2188 571 0 0 21 0 0 0
17076 25.62 18176.0 609.3 6.6 1577 17092 0.00 2.97 0.20 0.000 4 0.007 0.000 3345 475 605 0 0 13 0 0 0
17345 25.63 18185.4 588.7 6.7 1600 17355 0.00 3.42 0.82 0.000 6 0.000 0.000 3353 2279 606 0 0 16 0 0 0
17679 25.63 18185.4 563.0 8.0 1632 17694 0.00 2.92 0.17 0.007 4 0.007 0.000 3345 412 606 0 0 14 0 0 0
17946 25.63 18185.4 540.5 8.4 1655 17957 0.00 3.05 2.30 0.000 6 0.007 0.000 3349 2262 605 0 0 14 0 0 0
18281 25.63 18185.4 511.6 7.7 1687 18297 0.00 3.03 0.20 0.007 4 0.007 0.000 3352 434 601 0 0 15 0 0 0
18549 25.63 18185.4 490.0 8.7 1710 18561 0.00 2.90 2.08 0.000 6 0.007 0.000 3346 2148 604 0 0 14 0 0 0
18885 25.63 18185.4 463.2 8.7 1742 18901 0.00 3.03 0.15 0.007 4 0.000 0.000 3347 319 604 0 0 15 0 0 0
19154 25.63 18187.3 443.0 7.0 1765 19164 0.00 3.90 0.68 0.000 6 0.007 0.000 3345 2260 604 0 0 22 0 0 0
19489 25.68 18187.3 418.6 7.6 1797 19504 0.00 3.95 0.12 0.007 4 0.000 0.000 3349 280 601 0 0 20 0 0 0
19756 25.68 18187.3 396.8 8.3 1820 19767 0.00 3.00 2.45 0.000 6 0.007 0.000 3350 2188 601 0 0 12 0 0 0
20091 25.71 18216.1 373.5 6.1 1852 20107 0.00 3.38 0.12 0.000 4 0.007 0.000 3350 273 599 0 0 19 0 0 0
20360 25.62 18216.1 351.4 11.3 1875 20370 0.00 3.40 1.17 0.000 6 0.007 0.000 3347 2314 601 0 0 16 0 0 0
20694 25.67 18216.1 322.3 7.7 1907 20710 0.00 3.45 0.12 0.000 4 0.007 0.000 3349 400 599 0 0 12 0 0 0
20962 25.67 18216.1 301.7 7.7 1930 20973 0.00 2.92 1.98 0.000 6 0.007 0.000 3349 2139 595 0 0 15 0 0 0
21297 25.67 18216.1 276.2 8.5 1962 21313 0.00 3.47 0.12 0.007 4 0.007 0.000 3351 406 599 0 0 21 0 0 0
21565 25.56 18216.1 252.3 11.4 1985 21577 0.00 3.95 0.82 0.000 6 0.007 0.000 3349 2195 599 0 0 21 0 0 0
21902 25.62 18216.1 217.4 8.2 2017 21918 0.00 2.90 0.12 0.007 4 0.007 0.000 3350 590 598 0 0 13 0 0 0
22171 25.70 18216.1 196.3 7.1 2040 22181 0.00 3.28 1.23 0.000 6 0.007 0.000 3347 2208 601 0 0 17 0 0 0
22505 25.58 18216.1 174.2 9.3 2072 22522 0.00 3.85 0.12 0.000 4 0.007 0.000 3350 346 599 0 0 19 0 0 0
22774 25.46 18216.1 145.5 9.0 2095 22786 0.00 3.80 0.93 0.000 6 0.007 0.000 3346 2321 601 0 0 20 0 0 0
23110 25.56 18217.3 122.7 7.0 2127 23127 0.00 4.50 0.25 0.007 4 0.000 0.000 3349 497 600 0 0 22 0 0 0
23379 25.49 18217.3 93.8 10.2 2150 23389 0.00 3.60 0.65 0.000 6 0.007 0.000 3346 2163 595 0 0 20 0 0 0
23714 25.60 18217.3 68.0 7.4 2182 23730 0.00 3.78 0.12 0.007 4 0.007 0.000 3350 491 606 0 0 21 0 0 0
23983 25.62 18230.2 48.3 6.6 2205 23993 0.00 3.15 1.33 0.000 6 0.007 0.000 3348 2171 599 0 0 15 0 0 0
24193 25.44 18230.2 32.8 11.3 2225 24200 0.00 2.65 0.12 0.007 4 0.007 0.000 3349 3725 602 0 0 15 0 0 0
24239 25.27 18230.2 27.0 11.1 2228 24249 0.00 4.32 0.22 0.007 6 0.007 0.000 3347 1868 600 0 0 24 0 0 0
24448 25.18 18230.2 8.8 7.5 2259 24455 0.00 2.65 0.12 0.007 4 0.007 0.000 3349 505 601 0 0 15 0 0 0
24501 25.10 18230.2 3.8 9.8 2268 24518 0.00 3.62 0.32 0.000 6 0.007 0.000 3350 2320 599 0 0 19 0 0 0
24521 end climb: SURFACE_DEPTH_REACHED
state 24521 begin surface coast
24561 end surface coast: CONTROL_FINISHED_OK
state 24561 begin surface