SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 133 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  573 HD_C  9.8500004e-06 C_ROLL_DIVE  2130 ALTIM_BOTTOM_TURN_MARGIN  10
MISSION  22 HEADING  -1 C_ROLL_CLIMB  1910 ALTIM_TOP_TURN_MARGIN  0
DIVE  133 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  100
STOP_T  0 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_PING_DELTA  10
D_SURF  3 TGT_DEFAULT_LAT  4743.3999 R_PORT_OVSHOOT  32 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12224.2 R_STBD_OVSHOOT  61 ALTIM_PULSE  3
D_TGT  500 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 ALTIM_SENSITIVITY  3
D_ABORT  1050 SM_CC  290 ROLL_MAXERRORS  1 XPDR_VALID  2
D_NO_BLEED  29 N_FILEKB  4 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
D_BOOST  5 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 CALL_NDIVES  1 VBD_MIN  600 INT_PRESSURE_YINT  -0.85000002
D_FINISH  0 COMM_SEQ  0 VBD_MAX  3960 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 C_VBD  2812 MOTHERBOARD  4
D_SAFE  0 N_NOCOMM  2 VBD_DBAND  2 DEVICE1  -1
D_CALL  0 NOCOMM_ACTION  259 VBD_CNV  -0.245296 DEVICE2  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_DIVE  167 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_MISSION  182 CAPUPLOAD  1 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  1
T_ABORT  202 CAPMAXSIZE  400000 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN  500 HEAPDBG  0 UNCOM_BLEED  60 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 T_GPS  15 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_NO_W  120 N_GPS  100840 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_LOITER  0 T_RSLEEP  3 DBDW  0 COMPASS_DEVICE  17
T_EPIRB  0 STROBE  0 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_BATHY  0 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 PHONE_DEVICE  49
USE_ICE  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 AH0_24V  310 RAFOS_DEVICE  -1
D_OFFGRID  100 PITCH_MIN  139 AH0_10V  0 XPDR_DEVICE  24
T_WATCHDOG  10 PITCH_MAX  3926 MINV_24V  11.5 SIM_W  0
RELAUNCH  0 C_PITCH  2490 MINV_10V  10 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_DBAND  0.0099999998 MAXI_24V  3 SEABIRD_T_G  0.0043368991
MAX_BUOY  150 PITCH_CNV  0.003125763 MAXI_10V  2 SEABIRD_T_H  0.00062533951
COURSE_BIAS  0 P_OVSHOOT  0.039999999 FG_AHR_10V  0 SEABIRD_T_I  2.3700677e-05
GLIDE_SLOPE  30 P_OVSHOOT_WITHG  0.079999998 FG_AHR_24V  0 SEABIRD_T_J  2.5956786e-06
SPEED_FACTOR  1 PITCH_GAIN  27 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9432478
RHO  1.0275 PITCH_TIMEOUT  25 PRESSURE_YINT  -167.59918 SEABIRD_C_H  1.1588655
MASS  52619 PITCH_AD_RATE  125 PRESSURE_SLOPE  0.00010902 SEABIRD_C_I  -0.0013646155
MASS_COMP  0 PITCH_MAXERRORS  1 AD7714Ch0Gain  1 SEABIRD_C_J  0.00018066024
NAV_MODE  1 PITCH_ADJ_GAIN  0 TCM_PITCH_OFFSET  0 SC_RECORDABOVE  1000.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 TCM_ROLL_OFFSET  0 SC_PROFILE  3.0
KALMAN_USE  1 ROLL_MIN  167 COMPASS_USE  4 SC_XMITPROFILE  3.0
HD_A  0.0038360001 ROLL_MAX  3807 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.0101 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  230918,172046,-2938.0376,3139.3892,22,0.9,22,-24.5,0.5,81.6,9,9.0 SPEED_LIMITS  0.173,0.260
_CALLS  1 TGT_NAME  OFFSHORE
_XMS_NAKs  0 TGT_LATLONG  -2945.150,3156.070
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  1.13 MHEAD_RNG_PITCHd_Wd  140.4,29914,-18.2,-9.980,-21.01,2240
_SM_ANGLEo  -69.0 D_GRID  500
GPS2  230918,173222,-2938.1001,3139.3306,19,0.8,20,-24.5,0.6,134.4,12,7.4

Post-dive calculations and measurements:
FINISH  0.1,1.024159 _24V_AH  14.00,38.385
SM_CCo  4019,0.00,0.000,0,0,1406,344.89 _10V_AH  13.61,0.000
SM_GC  1.09,12.30,0.32,0.00,0.042,0.061,0.000,140,2153,1406,-7.27,-1.41,344.89,0,0,0,0,0,0,14.99,15.02,15.06 FG_AHR_24Vo  0.000
IRIDIUM_FIX  -2925.24,3151.39,230918,160715 FG_AHR_10Vo  0.000
TT8_MAMPS  0.03745,0.939246 MEM  343428
HUMID  49.25 DATA_FILE_SIZE  26729,764
INTERNAL_PRESSURE  9.18945 CAP_FILE_SIZE  147160,0
TCM_TEMP  23.50 CFSIZE  1023623168,1004273664
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_TOP_PING  19.6,18.8 GPS  230918,184022,-2938.108,3139.822,23,1.0,33,-24.5,1.0,225.4,10,9.9
SC_FREEKB  3852576

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor27279106.23 nil000.00
Roll_motor897797.00 nil000.00
VBD_pump_during_apogee38212376618.10 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init243211.19 nil000.00
Iridium_during_connect2216049.40 SciCon4000321824.87
Iridium_during_xfer4542231418.76 nil000.00
Transponder_ping442024.99 nil000.00
GUMSTIX_24V000.00
GPS20236.57
TT8000.00
LPSleep1853255.23
TT8_Active580867.68
TT8_Sampling212528811.26
TT8_CF81454182.25
TT8_Kalman000.00
Analog_circuits124812210.76
GPS_charging000.00
Compass114517268.52
RAFOS000.00
Transponder313012.83

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
16 end surface: CONTROL_FINISHED_OK
state 17 begin dive
18 -0.85 -146.0 81 2163 1423 1338 0.0 0.0 0 81 0.00 0.00 -61.10 0.000 16386 0.000 0.000 77 2161 3114 3117 3112 0 0 0 0 0 0 15.05 28.83 15.06
83 -0.85 -146.0 76 2162 3119 3113 4.0 -10.8 11 106 11.90 0.00 -5.03 0.000 18694 0.280 0.000 2205 2162 3409 3448 3370 0 0 0 0 0 0 14.71 14.33 14.83
165 -0.85 -146.0 2205 2163 3451 3370 28.2 -21.5 27 170 0.00 0.00 0.00 0.000 2054 0.000 0.000 2205 2162 3409 3449 3370 0 0 0 0 0 0 15.11 15.11 15.11
230 -0.85 -146.0 2206 2163 3449 3370 42.3 -21.8 40 236 0.00 2.33 0.00 0.000 2308 0.000 0.069 2196 3510 3409 3449 3370 0 0 0 0 0 0 15.14 14.92 15.14
270 -0.85 -146.0 2196 3510 3451 3371 50.4 -19.1 48 277 0.05 2.30 0.00 0.000 3078 0.262 0.039 2208 2109 3409 3449 3370 0 0 0 0 0 0 14.83 14.95 14.95
337 -0.85 -146.0 2207 2109 3451 3371 62.9 -18.3 61 342 0.00 0.00 0.00 0.000 2054 0.000 0.000 2208 2109 3409 3449 3370 0 0 0 0 0 0 15.15 15.15 15.15
402 -0.85 -146.0 2209 2109 3449 3370 74.5 -17.5 74 407 0.00 0.00 0.00 0.000 2054 0.000 0.000 2208 2109 3409 3449 3370 0 0 0 0 0 0 15.16 15.16 15.16
466 -0.85 -146.0 2209 2109 3449 3370 85.9 -17.1 87 473 0.00 2.33 0.00 0.000 2564 0.000 0.066 2208 731 3410 3450 3370 0 0 0 0 0 0 15.17 14.97 15.18
507 -0.85 -146.0 2209 732 3450 3370 93.0 -17.4 95 514 0.00 2.28 0.00 0.000 3078 0.000 0.048 2200 2110 3410 3450 3370 0 0 0 0 0 0 15.03 14.99 15.05
574 -0.85 -146.0 2199 2110 3451 3371 105.1 -17.6 108 580 0.00 2.30 0.00 0.000 2564 0.000 0.065 2199 731 3410 3450 3370 0 0 0 0 0 0 15.19 14.97 15.19
599 -0.85 -146.0 2199 732 3452 3371 109.3 -17.5 113 609 0.08 2.33 0.00 0.000 3078 0.235 0.048 2210 2136 3409 3449 3370 0 0 0 0 0 0 14.88 14.97 14.98
668 -0.85 -146.0 2209 2136 3452 3370 120.2 -15.1 126 674 0.00 0.00 0.00 0.000 2054 0.000 0.000 2210 2136 3410 3450 3370 0 0 0 0 0 0 15.18 15.19 15.18
733 -0.85 -146.0 2208 2136 3452 3371 129.6 -14.2 139 740 0.00 2.38 0.00 0.000 2308 0.000 0.071 2205 3528 3410 3450 3370 0 0 0 0 0 0 15.20 14.94 15.21
759 -0.85 -146.0 2206 3529 3450 3370 133.2 -15.6 144 765 0.00 2.28 0.00 0.000 3078 0.000 0.037 2211 2141 3410 3450 3370 0 0 0 0 0 0 15.01 14.95 15.02
825 -0.85 -146.0 2205 2142 3452 3371 142.3 -14.1 157 831 0.00 0.00 0.00 0.000 2054 0.000 0.000 2205 2141 3410 3450 3370 0 0 0 0 0 0 15.21 15.21 15.21
890 -0.85 -146.0 2206 2142 3451 3377 151.9 -15.0 170 896 0.00 2.40 0.00 0.000 2308 0.000 0.070 2200 3536 3410 3451 3369 0 0 0 0 0 0 15.20 14.97 15.21
915 -0.85 -146.0 2200 3537 3452 3370 155.5 -13.9 175 922 0.00 2.30 0.00 0.000 3078 0.000 0.037 2200 2131 3410 3451 3369 0 0 0 0 0 0 15.05 15.01 15.10
982 -0.85 -146.0 2200 2131 3452 3371 164.1 -12.7 188 988 0.00 0.00 0.00 0.000 2054 0.000 0.000 2200 2131 3410 3451 3369 0 0 0 0 0 0 15.21 15.21 15.21
1047 -0.85 -146.0 2204 2131 3452 3371 173.0 -14.0 201 1053 0.00 2.40 0.00 0.000 2308 0.000 0.070 2200 3531 3410 3451 3370 0 0 0 0 0 0 15.21 15.00 15.21
1062 -0.85 -146.0 2199 3531 3452 3371 175.0 -13.1 204 1069 0.00 2.30 0.00 0.000 3078 0.000 0.037 2199 2122 3410 3450 3370 0 0 0 0 0 0 15.06 15.01 15.07
1129 -0.85 -146.0 2199 2122 3452 3371 183.6 -11.6 217 1134 0.00 0.00 0.00 0.000 2054 0.000 0.000 2200 2122 3410 3451 3370 0 0 0 0 0 0 15.22 15.23 15.23
1194 -0.85 -146.0 2199 2121 3452 3371 191.5 -12.7 230 1199 0.00 0.00 0.00 0.000 2054 0.000 0.000 2200 2120 3410 3451 3370 0 0 0 0 0 0 15.23 15.23 15.23
1262 -0.85 -146.0 2201 2121 3451 3370 200.1 -12.4 243 1267 0.00 2.38 0.00 0.000 2308 0.000 0.071 2192 3539 3410 3451 3370 0 0 0 0 0 0 15.19 15.02 15.19
1301 -0.85 -146.0 2191 3540 3452 3371 205.3 -13.4 251 1309 0.08 2.30 0.00 0.000 3078 0.209 0.037 2209 2129 3410 3451 3370 0 0 0 0 0 0 14.95 15.02 15.03
1367 -0.85 -146.0 2209 2129 3452 3371 213.5 -13.3 264 1368 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2129 3410 3451 3370 0 0 0 0 0 0 15.24 15.25 15.24
1428 -0.85 -146.0 2209 2129 3453 3369 221.5 -13.3 276 1428 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2129 3410 3451 3370 0 0 0 0 0 0 15.25 15.25 15.25
1488 -0.85 -146.0 2209 2128 3452 3370 224.3 -0.1 288 1493 0.00 0.00 0.00 0.000 2054 0.000 0.000 2209 2127 3410 3451 3370 0 0 0 0 0 0 15.25 15.25 15.25
1553 -0.85 -146.0 2210 2128 3450 3370 224.3 0.0 301 1558 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2127 3410 3450 3370 0 0 0 0 0 0 15.24 15.25 15.25
1586 end dive: NO_VERTICAL_VELOCITY
state 1586 begin apogee
1590 -0.19 0.0 2211 1905 3451 3370 224.2 0.0 308 1706 0.98 0.00 107.40 1.237 10246 0.089 0.000 2430 1904 2811 2844 2778 0 0 0 0 0 0 14.98 14.50 14.10
1707 end apogee: CONTROL_FINISHED_OK
state 1707 begin climb
1708 0.85 146.0 2432 1905 2844 2778 224.2 0.0 329 1824 1.48 2.40 108.28 1.216 10500 0.083 0.062 2749 3315 2215 2257 2174 0 0 0 0 0 0 14.59 14.46 14.00
1958 0.91 188.1 2748 3315 2255 2173 211.8 8.0 376 1998 0.00 2.33 32.95 1.177 11270 0.000 0.042 2758 1926 2044 2094 1994 0 0 0 0 0 0 14.83 14.78 14.19
2057 0.91 188.1 2759 1927 2092 1991 202.4 10.2 395 2063 0.00 0.00 0.00 0.000 2054 0.000 0.000 2757 1926 2040 2091 1990 0 0 0 0 0 0 14.94 14.95 14.95
2122 0.95 222.5 2759 1933 2090 1991 196.3 8.4 408 2157 0.08 2.35 27.52 1.157 10500 0.186 0.063 2808 3313 1902 1955 1850 0 0 0 0 0 0 14.83 14.70 14.23
2196 0.95 222.5 2808 3313 1958 1848 187.1 13.1 422 2203 0.08 2.38 0.00 0.000 5126 0.226 0.045 2799 1909 1901 1956 1846 0 0 0 0 0 0 14.69 14.76 14.78
2262 0.95 222.5 2798 1909 1957 1846 178.6 13.4 435 2268 0.00 0.00 0.00 0.000 4102 0.000 0.000 2797 1909 1899 1955 1844 0 0 0 0 0 0 15.02 15.02 15.02
2327 0.95 222.5 2799 1908 1956 1845 169.9 12.8 448 2328 0.00 0.00 0.00 0.000 4102 0.000 0.000 2799 1909 1899 1955 1844 0 0 0 0 0 0 15.06 15.06 15.06
2387 0.95 222.5 2799 1909 1956 1845 162.9 11.7 460 2394 0.00 2.42 0.00 0.000 4612 0.000 0.074 2807 500 1898 1953 1844 0 0 0 0 0 0 15.09 14.87 15.09
2423 0.95 222.5 2807 501 1955 1845 158.5 12.6 467 2430 0.00 2.33 0.00 0.000 5126 0.000 0.043 2807 1916 1898 1953 1844 0 0 0 0 0 0 14.92 14.88 14.94
2490 0.95 222.5 2807 1917 1955 1844 150.5 12.0 480 2496 0.00 2.33 0.00 0.000 4356 0.000 0.065 2807 3306 1898 1953 1843 0 0 0 0 0 0 15.13 14.90 15.13
2556 0.95 222.5 2808 3306 1952 1845 142.3 12.1 493 2562 0.00 2.30 0.00 0.000 5126 0.000 0.047 2808 1902 1898 1953 1844 0 0 0 0 0 0 15.04 15.00 15.06
2622 0.95 222.5 2807 1903 1954 1843 135.0 10.3 506 2627 0.00 0.00 0.00 0.000 4102 0.000 0.000 2807 1902 1898 1953 1843 0 0 0 0 0 0 15.14 15.14 15.14
2686 0.96 233.3 2808 1903 1953 1844 128.5 9.5 519 2700 0.00 2.40 9.48 0.994 12548 0.000 0.062 2807 3305 1859 1914 1804 0 0 0 0 0 0 15.16 14.92 14.42
2724 0.96 233.3 2807 3306 1914 1803 125.1 10.4 526 2731 0.00 2.33 0.00 0.000 5126 0.000 0.046 2807 1911 1858 1913 1803 0 0 0 0 0 0 14.95 14.90 14.96
2790 0.97 240.9 2807 1911 1914 1803 118.6 9.6 539 2802 0.00 0.00 7.30 0.991 12294 0.000 0.000 2804 1911 1830 1886 1774 0 0 0 0 0 0 15.14 14.83 14.42
2862 0.97 240.9 2808 1911 1884 1772 110.9 10.9 553 2867 0.00 0.00 0.00 0.000 4102 0.000 0.000 2807 1911 1828 1885 1772 0 0 0 0 0 0 15.11 15.12 15.12
2926 0.99 256.6 2808 1912 1884 1772 104.5 9.3 566 2945 0.00 2.42 14.32 1.047 8708 0.000 0.076 2807 503 1764 1824 1704 0 0 0 0 0 0 15.14 14.87 14.40
3004 1.01 274.0 2807 504 1821 1704 97.7 9.2 581 3027 0.00 2.33 14.77 1.069 11270 0.000 0.042 2808 1918 1695 1757 1633 0 0 0 0 0 0 14.93 14.90 14.36
3087 1.03 286.9 2808 1918 1755 1631 90.0 9.4 597 3104 0.00 0.00 11.65 0.993 10246 0.000 0.000 2807 1918 1642 1706 1578 0 0 0 0 0 0 15.07 14.75 14.37
3164 1.04 297.1 2808 1918 1703 1577 83.0 9.5 612 3181 0.00 2.40 10.10 0.959 10756 0.000 0.077 2808 503 1598 1663 1534 0 0 0 0 0 0 15.07 14.80 14.37
3240 1.04 297.1 2813 504 1662 1535 75.5 10.3 627 3247 0.00 2.33 0.00 0.000 3078 0.000 0.042 2808 1913 1597 1661 1534 0 0 0 0 0 0 14.91 14.88 14.94
3306 1.04 297.1 2808 1914 1660 1533 68.7 10.0 640 3312 0.00 2.35 0.00 0.000 2308 0.000 0.064 2807 3312 1597 1661 1533 0 0 0 0 0 0 15.09 14.90 15.09
3336 1.04 297.1 2807 3312 1662 1533 65.4 10.8 646 3343 0.00 2.35 0.00 0.000 3078 0.000 0.046 2807 1905 1596 1660 1532 0 0 0 0 0 0 14.95 14.91 15.00
3403 1.08 326.0 2807 1905 1662 1533 59.4 8.7 659 3432 0.00 2.42 24.80 1.037 10756 0.000 0.077 2808 503 1480 1546 1415 0 0 0 0 0 0 15.13 14.77 14.38
3467 1.09 337.5 2807 504 1546 1415 53.6 9.5 671 3485 0.05 2.28 10.77 0.929 11270 0.259 0.041 2850 1915 1433 1498 1369 0 0 0 0 0 0 14.81 14.88 14.33
3544 1.09 337.5 2850 1915 1499 1365 45.3 11.5 686 3551 0.00 2.33 0.00 0.000 4356 0.000 0.063 2850 3297 1431 1498 1364 0 0 0 0 0 0 15.05 14.83 15.05
3580 1.09 337.5 2851 3298 1497 1364 40.7 12.4 693 3587 0.00 2.33 0.00 0.000 5126 0.000 0.046 2852 1911 1430 1498 1363 0 0 0 0 0 0 14.90 14.85 14.92
3646 1.09 337.5 2852 1911 1499 1364 32.8 11.7 706 3652 0.00 2.33 0.00 0.000 4356 0.000 0.061 2852 3299 1429 1497 1362 0 0 0 0 0 0 15.09 14.90 15.09
3676 1.09 337.5 2852 3300 1497 1363 29.2 12.1 712 3684 0.05 2.33 0.00 0.000 5126 0.265 0.047 2843 1909 1429 1497 1362 0 0 0 0 0 0 14.80 14.92 14.91
3743 1.10 343.0 2843 1909 1498 1363 22.0 9.7 725 3750 0.00 2.42 2.80 0.545 8708 0.000 0.076 2852 499 1412 1478 1347 0 0 0 0 0 0 15.12 14.91 14.44
3814 1.10 343.0 2852 499 1479 1347 14.0 10.3 739 3821 0.00 2.30 0.00 0.000 5126 0.000 0.043 2852 1904 1411 1477 1346 0 0 0 0 0 0 14.97 14.95 14.99
3881 1.10 343.0 2851 1906 1479 1346 6.2 11.2 752 3886 0.00 0.00 0.00 0.000 4102 0.000 0.000 2852 1905 1412 1478 1346 0 0 0 0 0 0 15.15 15.16 15.15
3914 end climb: SURFACE_DEPTH_REACHED
state 3914 begin surface coast
3940 end surface coast: CONTROL_FINISHED_OK
state 3940 begin surface