OKMC Nov12 * SG124 * Dive index * Mission links * Dive 128 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  124 HD_C  2.53e-05 ROLL_MIN  183 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  14 HEADING  -1 ROLL_MAX  3883 ALTIM_PING_DEPTH  0
DIVE  128 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  10
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2500 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1700 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  47.599998 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_TGT  950 TGT_DEFAULT_LON  -122.3 ROLL_CNV  0.028270001 XPDR_VALID  0
D_ABORT  980 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  500 SM_CC  450 R_PORT_OVSHOOT  28 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  4 R_STBD_OVSHOOT  23 INT_PRESSURE_YINT  0
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  250 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  1 VBD_MIN  244 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3700 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2509 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  280 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  300 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00039999999 LOGGERDEVICE1  53
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_NO_W  120 T_GPS  10 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  0 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -6 T_GPS_CHARGE  -303711.31 CF8_MAXERRORS  0 PHONE_DEVICE  48
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  100 RAFOS_DEVICE  -1
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 XPDR_DEVICE  24
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_10V  9.5 SIM_W  0
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 FG_AHR_10V  0 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_MIN  50 FG_AHR_24V  69.417763 SEABIRD_T_G  0.0043984288
MAX_BUOY  200 PITCH_MAX  3900 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00063808635
COURSE_BIAS  0 C_PITCH  2275 PRESSURE_YINT  -21.889965 SEABIRD_T_I  2.5525775e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001157801 SEABIRD_T_J  3.0944329e-06
SPEED_FACTOR  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -9.6676407
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1061285
MASS  51525 PITCH_GAIN  23 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0013205735
NAV_MODE  2 PITCH_TIMEOUT  20 COMPASS_USE  4 SEABIRD_C_J  0.00018109973
FERRY_MAX  40 PITCH_AD_RATE  135 ALTIM_BOTTOM_PING_RANGE  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SC_PROFILE  3.0
HD_A  0.003 PITCH_ADJ_GAIN  0.0099999998 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  281112,152606,1833.303,12330.857,36,1.0,36,-2.1 TGT_NAME  MEAST
_CALLS  1 TGT_LATLONG  1845.000,12300.070
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.51 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  281112,153337,1833.241,12330.938,10,2.0,10,-2.1 MHEAD_RNG_PITCHd_Wd  300.6,58350,-17.1,-11.310,-20.62
SPEED_LIMITS  0.196,0.301 D_GRID  4559

Post-dive calculations and measurements:
FINISH  1.9,1.021560 _10V_AH  9.9,17.336
SM_CCo  16742,0.00,0.000,0,0,375,523.22 FG_AHR_24Vo  69.418
SM_GC  2.68,6.80,1.25,0.00,0.047,0.045,0.000,47,2505,375,-10.18,-0.71,523.22,0,0,0,0,0,0,26.51,26.58,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1823.67,12333.84,281112,101032 MEM  326616
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  30035,793
HUMID  60.67 CAP_FILE_SIZE  185541,0
INTERNAL_PRESSURE  9.40466 CFSIZE  260034560,237961216
TCM_TEMP  24.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  11 CURRENT  0.036,322.6,1
SC_FREEKB  3971136 GPS  281112,201429,1835.291,12328.531,37,1.0,43,-2.1
_24V_AH  23.9,25.228

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18257112.73 nil000.00
Roll_motor12574225.32 nil000.00
VBD_pump_during_apogee569129117575.45 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon16683124814.99
Iridium_during_xfer294127898.75 nil000.00
Transponder_ping242027.60 nil000.00
GUMSTIX_24V000.00
GPS11293.32
TT8243214354.27
LPSleep117012253.70
TT8_Active7051397.55
TT8_Sampling212238812.74
TT8_CF823047108.87
TT8_Kalman000.00
Analog_circuits200216317.25
GPS_charging000.00
Compass17357128.68
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.82 -194.6 0.0 0.0 0 85 0.00 0.00 -65.12 0.000 2 0.000 0.000 39 2493 1588 0 0 0 0 0 0 28.83 28.83 28.83
88 -0.82 -194.6 3.2 -2.7 11 179 8.75 2.17 -72.97 0.000 4 0.257 0.075 2095 3880 3302 0 0 0 0 0 0 26.03 26.43 26.84
408 -0.80 -194.6 51.5 -20.3 56 414 0.00 2.10 0.00 0.000 6 0.000 0.038 2095 2499 3301 0 0 0 0 0 0 28.83 26.65 28.83
715 -0.80 -194.6 103.3 -15.8 72 716 0.00 0.00 0.00 0.000 6 0.000 0.000 2095 2498 3303 0 0 0 0 0 0 28.83 28.83 28.83
1015 -0.82 -194.6 144.7 -11.7 87 1020 0.00 2.17 0.00 0.000 4 0.000 0.056 2095 3889 3304 0 0 0 0 0 0 28.83 26.76 28.83
1113 -0.86 -194.6 154.8 -12.0 91 1120 0.00 2.08 0.00 0.000 6 0.000 0.039 2095 2477 3303 0 0 0 0 0 0 28.83 26.84 28.83
1419 -0.90 -194.6 187.1 -9.7 107 1425 0.00 2.15 0.00 0.000 4 0.000 0.057 2095 3881 3304 0 0 0 0 0 0 28.83 26.79 28.83
1492 -0.95 -194.6 193.0 -9.3 110 1498 0.10 2.05 0.00 0.000 6 0.119 0.037 2051 2499 3303 0 0 0 0 0 0 26.82 26.89 28.83
1806 -0.97 -194.6 231.0 -12.4 126 1811 0.00 2.15 0.00 0.000 4 0.000 0.044 2051 1084 3304 0 0 0 0 0 0 28.83 26.87 28.83
1853 -0.99 -194.6 236.3 -12.4 128 1859 0.00 2.20 0.00 0.000 6 0.000 0.042 2051 2515 3304 0 0 0 0 0 0 28.83 26.86 28.83
2171 -1.02 -194.6 272.3 -11.3 144 2176 0.00 2.08 0.00 0.000 4 0.000 0.057 2051 3882 3303 0 0 0 0 0 0 28.83 26.84 28.83
2258 -1.05 -194.6 281.3 -10.9 148 2264 0.00 2.05 0.00 0.000 6 0.000 0.038 2051 2501 3303 0 0 0 0 0 0 28.83 26.93 28.83
2577 -1.09 -194.6 314.8 -10.3 164 2579 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2501 3302 0 0 0 0 0 0 28.83 28.83 28.83
2877 -1.13 -194.6 345.7 -10.0 179 2878 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2501 3301 0 0 0 0 0 0 28.83 28.83 28.83
3178 -1.17 -194.6 374.6 -9.3 194 3184 0.12 2.12 0.00 0.000 4 0.094 0.057 1994 3880 3298 0 0 0 0 0 0 26.99 26.85 28.83
3206 -1.21 -194.6 377.3 -9.6 195 3212 0.00 2.05 0.00 0.000 6 0.000 0.040 1994 2498 3299 0 0 0 0 0 0 28.83 26.94 28.83
3524 -1.21 -194.6 417.7 -12.4 211 3529 0.00 2.15 0.00 0.000 4 0.000 0.059 1994 3878 3296 0 0 0 0 0 0 28.83 26.84 28.83
3581 -1.21 -194.6 423.0 -12.6 213 3588 0.00 2.08 0.00 0.000 6 0.000 0.040 1994 2487 3297 0 0 0 0 0 0 28.83 26.94 28.83
3887 -1.22 -194.6 462.2 -12.1 229 3893 0.00 2.20 -0.08 0.000 4 0.000 0.072 1994 3889 3319 0 0 0 0 0 0 28.83 26.84 26.45
3972 -1.24 -194.6 472.4 -12.1 233 3977 0.00 2.10 0.00 0.000 6 0.000 0.042 1994 2499 3319 0 0 0 0 0 0 28.83 26.93 28.83
4295 -1.26 -194.6 511.0 -11.7 249 4301 0.00 2.17 0.00 0.000 4 0.000 0.047 1994 1085 3318 0 0 0 0 0 0 28.83 26.88 28.83
4318 -1.27 -194.6 513.9 -11.8 250 4324 0.00 2.22 0.00 0.000 6 0.000 0.047 1994 2508 3318 0 0 0 0 0 0 28.83 26.88 28.83
4642 -1.29 -194.6 550.1 -10.9 266 4647 0.00 2.12 0.00 0.000 4 0.000 0.062 1994 3889 3315 0 0 0 0 0 0 28.83 26.82 28.83
4729 -1.32 -194.6 558.8 -10.5 270 4735 0.00 2.12 0.00 0.000 6 0.000 0.044 1994 2480 3314 0 0 0 0 0 0 28.83 26.91 28.83
5048 -1.34 -194.6 594.1 -11.3 286 5049 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2480 3312 0 0 0 0 0 0 28.83 28.83 28.83
5348 -1.36 -194.6 628.3 -11.5 297 5349 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2480 3309 0 0 0 0 0 0 28.83 28.83 28.83
5648 -1.39 -194.6 660.1 -10.3 307 5649 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2480 3307 0 0 0 0 0 0 28.83 28.83 28.83
5948 -1.41 -194.6 688.9 -9.2 317 5954 0.10 2.22 0.00 0.000 4 0.117 0.063 1955 3881 3284 0 0 0 0 0 0 27.01 26.78 28.83
5992 -1.43 -194.6 692.6 -9.6 318 5997 0.00 2.10 0.00 0.000 6 0.000 0.047 1955 2504 3297 0 0 0 0 0 0 28.83 26.89 28.83
6315 -1.43 -194.6 733.1 -12.3 329 6316 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2504 3302 0 0 0 0 0 0 28.83 28.83 28.83
6615 -1.43 -194.6 770.3 -12.1 339 6616 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2504 3299 0 0 0 0 0 0 28.83 28.83 28.83
6914 -1.43 -194.6 805.2 -11.4 349 6915 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2504 3297 0 0 0 0 0 0 28.83 28.83 28.83
7215 -1.43 -194.6 840.4 -11.9 359 7217 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2504 3295 0 0 0 0 0 0 28.83 28.83 28.83
7514 -1.43 -194.6 875.5 -11.6 369 7519 0.00 2.20 0.00 0.000 4 0.000 0.068 1954 3878 3293 0 0 0 0 0 0 28.83 26.72 28.83
7547 -1.43 -194.6 879.3 -11.6 370 7552 0.00 2.12 0.00 0.000 6 0.000 0.049 1955 2497 3292 0 0 0 0 0 0 28.83 26.85 28.83
7881 -1.43 -194.6 918.5 -11.9 381 7882 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2496 3291 0 0 0 0 0 0 28.83 28.83 28.83
8148 end dive: TARGET_DEPTH_EXCEEDED
state 8148 begin apogee
8154 -0.22 0.0 950.6 -11.8 390 8311 0.82 0.00 150.38 1.291 6 0.119 0.000 2228 1689 2506 0 0 0 0 0 0 26.56 28.83 24.32
8312 end apogee: CONTROL_FINISHED_OK
state 8312 begin climb
8314 0.82 194.6 957.5 0.0 395 8481 0.65 0.00 161.70 1.248 6 0.060 0.000 2466 1689 1715 0 0 0 0 0 0 25.32 28.83 23.93
8781 0.83 222.1 920.9 10.2 411 8810 0.00 0.00 22.73 1.177 6 0.000 0.000 2466 1689 1602 0 0 0 0 0 0 28.83 28.83 24.77
9110 0.84 243.5 886.1 10.5 422 9130 0.00 0.00 18.35 1.156 6 0.000 0.000 2466 1689 1516 0 0 0 0 0 0 28.83 28.83 25.08
9410 0.85 274.8 855.8 10.1 432 9440 0.00 0.00 26.60 1.183 6 0.000 0.000 2466 1689 1388 0 0 0 0 0 0 28.83 28.83 24.96
9740 0.86 296.7 821.3 10.4 443 9764 0.00 2.28 18.70 1.140 4 0.000 0.062 2468 291 1298 0 0 0 0 0 0 28.83 26.00 25.12
9802 0.86 307.9 814.5 10.9 445 9821 0.00 2.28 10.70 1.050 6 0.000 0.048 2469 1711 1252 0 0 0 0 0 0 28.83 26.14 25.03
10134 0.88 307.9 776.5 11.5 456 10139 0.00 2.35 0.00 0.000 4 0.000 0.062 2469 281 1248 0 0 0 0 0 0 28.83 26.40 28.83
10167 0.89 307.9 772.5 11.6 457 10172 0.00 2.28 0.00 0.000 6 0.000 0.048 2468 1708 1247 0 0 0 0 0 0 28.83 26.46 28.83
10500 0.90 307.9 733.1 11.9 468 10506 0.00 2.30 0.00 0.000 4 0.000 0.062 2468 289 1229 0 0 0 0 0 0 28.83 26.57 28.83
10534 0.91 307.9 729.0 11.8 469 10539 0.00 2.22 0.00 0.000 6 0.000 0.049 2469 1707 1246 0 0 0 0 0 0 28.83 26.61 28.83
10869 0.93 307.9 687.6 12.7 480 10874 0.00 2.22 0.00 0.000 4 0.000 0.060 2468 3118 1238 0 0 0 0 0 0 28.83 26.65 28.83
10891 0.94 307.9 687.6 12.7 480 10896 0.00 2.25 0.00 0.000 6 0.000 0.053 2471 1696 1245 0 0 0 0 0 0 28.83 26.67 28.83
11205 0.95 307.9 644.3 12.8 491 11210 0.00 2.22 0.00 0.000 4 0.000 0.064 2472 285 1244 0 0 0 0 0 0 28.83 26.68 28.83
11241 0.97 307.9 639.9 12.8 492 11248 0.00 2.22 0.00 0.000 6 0.000 0.048 2472 1693 1244 0 0 0 0 0 0 28.83 26.74 28.83
11572 0.99 310.8 600.8 11.2 503 11577 0.00 2.22 0.00 0.000 4 0.000 0.058 2471 3116 1227 0 0 0 0 0 0 28.83 26.72 28.83
11589 1.00 313.6 600.8 11.2 503 11599 0.00 2.25 4.57 0.752 6 0.000 0.053 2472 1693 1230 0 0 0 0 0 0 28.83 26.74 25.67
11906 1.03 332.8 564.4 10.5 519 11933 0.10 2.28 17.52 1.005 4 0.109 0.064 2525 292 1151 0 0 0 0 0 0 26.86 26.41 25.58
11970 1.03 332.8 556.0 12.5 522 11977 0.12 2.28 0.00 0.000 6 0.138 0.048 2490 1717 1149 0 0 0 0 0 0 26.37 26.46 28.83
12294 1.04 332.8 518.2 11.5 538 12295 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 1719 1147 0 0 0 0 0 0 28.83 28.83 28.83
12596 1.06 340.7 483.9 11.0 553 12610 0.00 2.33 7.20 0.828 4 0.000 0.062 2496 294 1120 0 0 0 0 0 0 28.83 26.57 25.68
12647 1.07 348.1 479.1 11.0 555 12660 0.00 2.22 7.93 0.837 6 0.000 0.047 2496 1699 1089 0 0 0 0 0 0 28.83 26.60 25.61
12959 1.09 348.1 442.6 11.5 571 12964 0.00 2.25 0.00 0.000 4 0.000 0.060 2498 290 1076 0 0 0 0 0 0 28.83 26.55 28.83
12982 1.10 348.1 440.0 11.3 572 12987 0.00 2.22 0.00 0.000 6 0.000 0.047 2498 1701 1086 0 0 0 0 0 0 28.83 26.60 28.83
13304 1.12 348.1 400.7 13.1 588 13305 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1702 1086 0 0 0 0 0 0 28.83 28.83 28.83
13605 1.14 348.1 361.1 12.5 603 13611 0.10 2.25 0.00 0.000 4 0.106 0.059 2550 292 1084 0 0 0 0 0 0 26.86 26.68 28.83
13672 1.14 348.1 351.6 14.5 606 13679 0.12 2.22 0.00 0.000 6 0.131 0.046 2514 1714 1085 0 0 0 0 0 0 26.63 26.74 28.83
13992 1.16 348.1 310.2 11.6 622 13997 0.00 2.28 0.00 0.000 4 0.000 0.058 2515 289 1085 0 0 0 0 0 0 28.83 26.72 28.83
14049 1.17 348.1 305.2 11.5 624 14056 0.00 2.20 0.00 0.000 6 0.000 0.044 2514 1698 1085 0 0 0 0 0 0 28.83 26.78 28.83
14355 1.19 348.1 267.6 12.5 640 14356 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1700 1085 0 0 0 0 0 0 28.83 28.83 28.83
14656 1.22 360.4 232.4 10.8 655 14677 0.10 2.30 10.90 0.693 4 0.101 0.057 2564 283 1038 0 0 0 0 0 0 26.96 26.69 25.92
14745 1.22 360.4 220.8 13.7 659 14751 0.10 2.22 0.00 0.000 6 0.135 0.042 2534 1714 1037 0 0 0 0 0 0 26.63 26.71 28.83
15064 1.24 360.4 181.9 12.5 675 15069 0.00 2.28 0.00 0.000 4 0.000 0.054 2537 281 1037 0 0 0 0 0 0 28.83 26.71 28.83
15221 1.27 365.3 165.1 11.1 682 15233 0.00 2.20 5.28 0.532 6 0.000 0.041 2537 1711 1019 0 0 0 0 0 0 28.83 26.78 25.91
15551 1.31 391.7 128.7 10.3 699 15580 0.10 2.28 21.75 0.637 4 0.103 0.055 2594 283 911 0 0 0 0 0 0 26.89 26.50 25.86
15647 1.31 391.7 117.9 13.3 703 15654 0.12 2.17 0.00 0.000 6 0.120 0.041 2555 1694 910 0 0 0 0 0 0 26.48 26.57 28.83
15953 1.37 424.8 85.9 10.0 719 15986 0.00 2.30 25.88 0.599 4 0.000 0.054 2555 288 777 0 0 0 0 0 0 28.83 26.36 25.76
16076 1.45 475.1 74.4 9.3 725 16122 0.12 2.20 38.58 0.592 6 0.090 0.038 2618 1713 572 0 0 0 0 0 0 26.48 26.48 25.49
16432 1.48 475.1 28.0 12.1 751 16437 0.00 2.25 0.00 0.000 4 0.000 0.053 2619 289 568 0 0 0 0 0 0 28.83 26.45 28.83
16516 1.55 522.1 18.6 9.4 765 16542 0.00 2.17 20.73 0.083 6 0.000 0.037 2619 1700 380 0 0 0 0 0 0 28.83 26.57 26.42
16642 end climb: SURFACE_DEPTH_REACHED
state 16642 begin surface coast
16665 end surface coast: CONTROL_FINISHED_OK
state 16665 begin surface