Also don't try too hard on those first branching levels, since you might still be above the cavern layer. After all it's not the end of the world if you breach a cavern layer below its highest point. Since the caverns are often reasonably tall I would, with the stock 5 z-levels above layer 1, dig down at least 7 or 8 z-levels before expanding sideways. I myself usually set the z-levels above the first cavern layer to a larger number like 12 (I like lots of room), and will often have to dig down 14 or 15 levels before I find the cavern. Also this "ground level" can change over various parts of a fortress map. Number, size and z-position can be altered in the world generation parameters. Vanilla worlds provide three cavern layers. Forgotten beasts also seem to like to enter the fortress through caverns, so its a good idea to find the holes and seal them up ASAP. Forget if this happens naturally, if some portion of the cavern collapses or both. I don't believe that there is a guarantee that the lowest actual ground level will be the lowest possible one, and caverns have funky organic shapes so this is merely the minimum distance between the surface and the cavern. They go up, down, left, right, and about anywhere else. IIRC the caverns can occasionally be open to the world when you embark. As I understand it this is the distance between the top of the possible cavern and the lowest possible part of the ground in that area. This doesn't necessarily mean that the cavern is located 5 z-levels below the ground everywhere. Assuming that you haven't changed any of them (if you have use your values), the default is 5 z-levels above "Layer 1" which (according to the wiki) is the first cavern layer. The advanced world gen parameters include some information on the number of z-levels between various underground features.
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