OKMC 16May13 * SG181 * Dive index * Mission links * Dive 144 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  181 HD_C  1.5e-05 ROLL_MAX  3785 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  11 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  144 ESCAPE_HEADING  0 C_ROLL_DIVE  2450 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2350 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  67 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  44 XPDR_VALID  2
D_BOOST  150 N_FILEKB  8 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  5 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  440 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2753 DEVICE1  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  360 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  390 CALL_WAIT  60 PITCH_VBD_SHIFT  0.001 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_NO_W  120 T_GPS  15 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -8 T_GPS_CHARGE  -95867.172 DBDW  0 COMPASS_DEVICE  97
USE_ICE  0 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  149
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  350 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  250 MINV_24V  12 SIM_W  0
MAX_BUOY  200 PITCH_MAX  3941 MINV_10V  12 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2700 FG_AHR_10V  0 SEABIRD_T_G  0.004364301
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062910328
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.4425184e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -160.75446 SEABIRD_T_J  2.6404416e-06
MASS  52184 PITCH_GAIN  20 PRESSURE_SLOPE  0.000109412 SEABIRD_C_G  -9.9046793
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  1 SEABIRD_C_H  1.1251128
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019873739
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00023203803
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0033 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0082 ROLL_MIN  209 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0

Pre-dive calculations and measurements:
GPS1  020613,114136,2337.851,12237.104,31,1.0,32,-3.2 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -0.22 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  020613,114948,2337.924,12237.179,9,0.9,14,-3.2 MHEAD_RNG_PITCHd_Wd  104.0,133718,-13.2,-9.167,-16.45,3213
SPEED_LIMITS  0.159,0.311 D_GRID  2933

Post-dive calculations and measurements:
FINISH  -0.2,1.021383 _10V_AH  13.1,0.000
SM_CCo  12782,54.62,0.143,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.37,7.47,0.20,54.62,0.047,0.104,0.143,230,2474,916,-7.62,-0.71,450.13,0,0,0,0,0,0,14.83,14.83,14.69 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2335.63,12245.25,020613,070740 MEM  322808
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23461,625
HUMID  44.40 CAP_FILE_SIZE  143675,0
INTERNAL_PRESSURE  9.71717 CFSIZE  260034560,243875840
TCM_TEMP  25.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  8 CURRENT  0.117,324.5,1
SC_FREEKB  3882752 GPS  020613,152535,2337.897,12238.734,37,0.9,38,-3.2
_24V_AH  13.1,57.378

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20397105.14 nil000.00
Roll_motor106110154.05 nil000.00
VBD_pump_during_apogee449244614401.91 nil000.00
VBD_pump_during_surface54143102.37 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2711240.58 nil000.00
Iridium_during_connect3816081.72 SciCon1281261007.02
Iridium_during_xfer218223637.42 nil000.00
Transponder_ping242011.00 nil000.00
GUMSTIX_24V000.00
GPS16204.65
TT8190810274.06
LPSleep88392253.58
TT8_Active6001086.20
TT8_Sampling180928685.87
TT8_CF81803584.35
TT8_Kalman000.00
Analog_circuits141916297.47
GPS_charging000.00
Compass13806121.90
RAFOS000.00
Transponder050.04

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
19 -0.85 -194.6 234 2464 908 915 0.0 0.0 0 109 0.00 0.00 -87.28 0.000 16386 0.000 0.000 234 2461 3113 3166 3061 0 0 0 0 0 0 28.83 28.83 28.83
111 -0.85 -194.6 233 2465 3167 3062 3.6 -13.6 15 137 10.07 2.20 -7.28 0.000 18692 0.398 0.097 2409 3771 3551 3640 3462 0 0 0 0 0 0 14.40 14.66 14.90
151 -0.85 -194.6 2409 3771 3640 3463 24.3 -50.3 21 157 0.00 2.03 0.00 0.000 1030 0.000 0.036 2409 2447 3551 3640 3463 0 0 0 0 0 0 28.83 14.75 28.83
456 -0.85 -194.6 2409 2443 3641 3464 105.5 -24.0 41 461 0.00 2.15 0.00 0.000 516 0.000 0.041 2408 1062 3552 3641 3464 0 0 0 0 0 0 28.83 14.81 28.83
487 -0.85 -194.6 2409 1061 3642 3470 110.8 -23.4 42 492 0.00 2.25 0.00 0.000 1030 0.000 0.060 2400 2447 3553 3643 3463 0 0 0 0 0 0 28.83 14.79 28.83
799 -0.85 -194.6 2399 2448 3643 3466 180.4 -21.3 58 805 0.00 2.17 0.00 0.000 260 0.000 0.076 2389 3787 3554 3642 3466 0 0 0 0 0 0 28.83 14.81 28.83
827 -0.85 -194.6 1504 3788 3638 3464 185.7 -21.7 59 833 0.15 2.03 0.00 0.000 3078 0.272 0.035 2422 2439 3554 3642 3466 0 0 0 0 0 0 14.68 14.90 28.83
1145 -0.85 -194.6 2422 2434 3643 3463 248.1 -18.4 75 1150 0.00 2.20 0.00 0.000 260 0.000 0.077 2414 3781 3554 3643 3466 0 0 0 0 0 0 28.83 14.86 28.83
1167 -0.85 -194.6 2414 3782 3644 3468 252.3 -18.3 76 1173 0.00 2.00 0.00 0.000 1030 0.000 0.034 2414 2452 3554 3643 3466 0 0 0 0 0 0 28.83 14.93 28.83
1490 -0.85 -194.6 2414 2447 3644 3466 302.2 -14.3 92 1491 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2447 3555 3644 3466 0 0 0 0 0 0 28.83 28.83 28.83
1791 -0.85 -194.6 2414 2446 3644 3464 350.0 -17.9 107 1797 0.00 2.15 0.00 0.000 516 0.000 0.044 2414 1056 3553 3644 3463 0 0 0 0 0 0 28.83 14.93 28.83
1883 -0.85 -194.6 2414 1056 3643 3463 364.8 -17.6 111 1888 0.00 2.25 0.00 0.000 1030 0.000 0.058 2406 2456 3554 3644 3464 0 0 0 0 0 0 28.83 14.90 28.83
2195 -0.85 -194.6 2405 2457 3643 3461 424.6 -18.3 127 2197 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2457 3552 3644 3461 0 0 0 0 0 0 28.83 28.83 28.83
2496 -0.85 -194.6 2404 2456 3644 3457 477.4 -16.7 142 2501 0.00 2.17 0.00 0.000 260 0.000 0.085 2395 3786 3550 3643 3457 0 0 0 0 0 0 28.83 14.89 28.83
2553 -0.85 -194.6 2394 3786 3644 3456 485.1 -17.1 144 2560 0.12 2.03 0.00 0.000 3078 0.265 0.040 2422 2445 3550 3644 3456 0 0 0 0 0 0 14.77 14.99 28.83
2859 -0.85 -194.6 2422 2442 3644 3451 535.9 -15.5 160 2860 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2443 3547 3644 3451 0 0 0 0 0 0 28.83 28.83 28.83
3160 -0.85 -194.6 2422 2442 3642 3448 579.9 -14.2 175 3165 0.00 2.22 0.00 0.000 260 0.000 0.089 2415 3780 3545 3642 3448 0 0 0 0 0 0 28.83 14.89 28.83
3203 -0.85 -194.6 2415 3781 3641 3448 586.4 -14.3 177 3208 0.00 2.03 0.00 0.000 1030 0.000 0.041 2415 2450 3544 3641 3448 0 0 0 0 0 0 28.83 14.97 28.83
3517 -0.85 -194.6 2415 2445 3639 3445 629.1 -12.9 189 3523 0.00 2.17 0.00 0.000 516 0.000 0.050 2415 1062 3542 3639 3445 0 0 0 0 0 0 28.83 14.94 28.83
3535 -0.85 -194.6 2415 1061 3638 3444 629.1 -12.9 189 3541 0.00 2.28 0.00 0.000 1030 0.000 0.065 2407 2457 3541 3639 3444 0 0 0 0 0 0 28.83 14.91 28.83
3854 -0.85 -194.6 2407 2458 3635 3441 674.8 -14.2 200 3860 0.00 2.20 0.00 0.000 260 0.000 0.093 2397 3776 3537 3634 3441 0 0 0 0 0 0 28.83 14.88 28.83
3936 -0.85 -194.6 2397 3777 3633 3441 684.5 -14.7 202 3942 0.00 2.03 0.00 0.000 1030 0.000 0.044 2396 2451 3537 3633 3441 0 0 0 0 0 0 28.83 14.97 28.83
4250 -0.85 -194.6 2395 2447 3629 3439 731.5 -14.0 213 4257 0.12 2.22 0.00 0.000 2308 0.278 0.090 2422 3775 3534 3629 3439 0 0 0 0 0 0 14.75 14.87 28.83
4303 -0.85 -194.6 2422 3775 3628 3438 736.2 -14.0 214 4308 0.00 2.05 0.00 0.000 1030 0.000 0.044 2422 2445 3533 3628 3438 0 0 0 0 0 0 28.83 14.98 28.83
4615 -0.85 -194.6 2422 2439 3627 3432 780.4 -13.4 225 4617 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2440 3531 3627 3435 0 0 0 0 0 0 28.83 28.83 28.83
4916 -0.85 -194.6 2422 2440 3625 3433 822.2 -14.1 235 4922 0.00 2.25 0.00 0.000 260 0.000 0.094 2412 3780 3528 3624 3433 0 0 0 0 0 0 28.83 14.86 28.83
4968 -0.85 -194.6 2412 3780 3623 3433 827.2 -14.1 236 4973 0.00 2.05 0.00 0.000 1030 0.000 0.045 2412 2450 3528 3624 3433 0 0 0 0 0 0 28.83 14.96 28.83
5281 -0.85 -194.6 2412 2445 3622 3426 874.2 -13.8 247 5282 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2445 3526 3622 3430 0 0 0 0 0 0 28.83 28.83 28.83
5580 -0.85 -194.6 2412 2445 3621 3427 913.4 -13.1 257 5586 0.00 2.20 0.00 0.000 516 0.000 0.055 2412 1065 3524 3621 3427 0 0 0 0 0 0 28.83 14.90 28.83
5602 -0.85 -194.6 2412 1065 3620 3427 913.4 -13.1 257 5608 0.00 2.30 0.00 0.000 1030 0.000 0.070 2403 2457 3524 3621 3427 0 0 0 0 0 0 28.83 14.88 28.83
5916 -0.85 -194.6 2403 2457 3618 3425 955.4 -12.5 268 5918 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2457 3521 3617 3425 0 0 0 0 0 0 28.83 28.83 28.83
6214 end dive: TARGET_DEPTH_EXCEEDED
state 6214 begin apogee
6219 -0.25 0.0 2403 2350 3616 3424 993.1 -12.5 278 6427 0.73 0.00 201.75 1.711 10246 0.214 0.000 2615 2350 2751 2779 2723 0 0 0 0 0 0 14.69 28.83 13.57
6429 end apogee: CONTROL_FINISHED_OK
state 6429 begin climb
6431 0.85 194.6 2616 2350 2778 2721 998.8 0.0 285 6631 1.08 2.40 185.30 2.446 10756 0.112 0.059 2978 973 1959 1984 1934 0 0 0 0 1 0 14.14 13.90 13.09
6737 0.85 194.6 2979 972 1985 1924 955.1 18.4 295 6743 0.00 2.38 0.00 0.000 1030 0.000 0.067 2980 2355 1954 1985 1924 0 0 0 0 0 0 28.83 14.31 28.83
7062 0.85 194.6 2978 2355 1985 1917 891.1 19.2 306 7063 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2355 1951 1985 1917 0 0 0 0 0 0 28.83 28.83 28.83
7360 0.85 194.6 2978 2355 1985 1915 833.1 19.3 316 7365 0.00 2.40 0.00 0.000 260 0.000 0.095 2978 3762 1950 1985 1915 0 0 0 0 0 0 28.83 14.71 28.83
7387 0.85 194.6 2978 3763 1985 1915 833.1 19.3 316 7395 0.00 2.22 0.00 0.000 1030 0.000 0.043 2988 2353 1949 1984 1915 0 0 0 0 0 0 28.83 14.79 28.83
7692 0.85 194.6 2989 2349 1985 1913 767.6 19.5 327 7693 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2349 1948 1984 1913 0 0 0 0 0 0 28.83 28.83 28.83
7993 0.85 194.6 2988 2348 1985 1911 711.6 18.3 337 7999 0.00 2.42 0.00 0.000 260 0.000 0.093 2987 3762 1948 1985 1911 0 0 0 0 0 0 28.83 14.80 28.83
8039 0.85 194.6 2068 3762 1949 1902 705.0 18.5 338 8044 0.00 2.22 0.00 0.000 1030 0.000 0.043 3000 2339 1948 1985 1911 0 0 0 0 0 0 28.83 14.87 28.83
8358 0.85 194.6 3000 2334 1985 1909 640.5 20.1 349 8363 0.00 2.42 0.00 0.000 260 0.000 0.094 3000 3758 1947 1985 1909 0 0 0 0 0 0 28.83 14.81 28.83
8410 0.85 194.6 3000 3758 1985 1909 633.2 20.4 350 8416 0.15 2.20 0.00 0.000 5126 0.304 0.041 2978 2345 1947 1985 1910 0 0 0 0 0 0 14.66 14.89 28.83
8733 0.85 194.6 2978 2340 1985 1907 565.3 20.5 364 8739 0.00 2.22 0.00 0.000 516 0.000 0.054 2986 959 1946 1985 1907 0 0 0 0 0 0 28.83 14.86 28.83
8771 0.85 194.6 2986 959 1985 1907 560.5 20.6 365 8777 0.00 2.28 0.00 0.000 1030 0.000 0.061 2986 2353 1946 1985 1907 0 0 0 0 0 0 28.83 14.84 28.83
9076 0.85 194.6 2986 2353 1985 1906 499.5 18.3 381 9082 0.00 2.38 0.00 0.000 260 0.000 0.093 2986 3755 1945 1985 1906 0 0 0 0 0 0 28.83 14.82 28.83
9119 0.85 194.6 2986 3755 1985 1907 491.3 18.9 383 9124 0.00 2.20 0.00 0.000 1030 0.000 0.042 2997 2346 1946 1985 1907 0 0 0 0 0 0 28.83 14.90 28.83
9441 0.85 194.6 2996 2343 1985 1906 432.8 18.2 399 9443 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2342 1945 1985 1906 0 0 0 0 0 0 28.83 28.83 28.83
9743 0.85 194.6 2997 2342 1985 1905 375.1 19.9 414 9748 0.00 2.40 0.00 0.000 260 0.000 0.093 2997 3756 1945 1985 1905 0 0 0 0 0 0 28.83 14.83 28.83
9766 0.85 194.6 2997 3757 1985 1905 370.1 20.1 415 9772 0.12 2.20 0.00 0.000 5126 0.305 0.041 2981 2343 1945 1985 1905 0 0 0 0 0 0 14.66 14.91 28.83
10090 0.85 194.6 2982 2338 1985 1904 312.8 17.0 431 10096 0.00 2.20 0.00 0.000 516 0.000 0.054 2989 963 1944 1985 1904 0 0 0 0 0 0 28.83 14.87 28.83
10273 0.85 194.6 2989 963 1985 1904 285.4 14.0 440 10279 0.00 2.28 0.00 0.000 1030 0.000 0.060 2989 2361 1944 1985 1903 0 0 0 0 0 0 28.83 14.84 28.83
10597 0.85 194.6 2989 2361 1985 1903 239.4 14.2 456 10602 0.00 2.33 0.00 0.000 260 0.000 0.090 2989 3753 1944 1985 1903 0 0 0 0 0 0 28.83 14.83 28.83
10613 0.85 194.6 2989 3753 1985 1904 239.4 14.2 456 10620 0.00 2.17 0.00 0.000 1030 0.000 0.040 2999 2343 1944 1985 1904 0 0 0 0 0 0 28.83 14.91 28.83
10919 0.85 194.6 3000 2339 1985 1904 192.6 14.3 472 10920 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2340 1944 1985 1903 0 0 0 0 0 0 28.83 28.83 28.83
11221 0.85 194.6 3000 2339 1985 1903 150.8 12.8 487 11226 0.00 2.20 0.00 0.000 516 0.000 0.050 3009 958 1944 1985 1904 0 0 0 0 0 0 28.83 14.87 28.83
11294 0.85 194.6 3009 957 1985 1903 142.2 13.6 490 11300 0.15 2.28 0.00 0.000 5126 0.265 0.057 2976 2363 1944 1985 1904 0 0 0 0 0 0 14.65 14.82 28.83
11608 0.86 203.4 2976 2363 1987 1904 110.2 8.9 506 11619 0.00 2.35 3.25 0.472 8452 0.000 0.087 2976 3748 1924 1966 1883 0 0 0 0 0 0 28.83 14.80 14.45
11686 0.86 203.4 2976 3749 1966 1885 102.2 12.0 509 11693 0.00 2.15 0.00 0.000 1030 0.000 0.038 2983 2347 1925 1966 1885 0 0 0 0 0 0 28.83 14.88 28.83
11991 0.86 203.4 2983 2342 1966 1885 65.1 11.1 525 11996 0.00 2.35 0.00 0.000 260 0.000 0.086 2983 3753 1925 1966 1885 0 0 0 0 0 0 28.83 14.80 28.83
12073 0.86 203.4 2983 3753 1967 1881 55.2 12.0 529 12079 0.00 2.15 0.00 0.000 1030 0.000 0.037 2994 2345 1926 1967 1885 0 0 0 0 0 0 28.83 14.88 28.83
12386 0.99 326.9 2994 2342 1969 1885 29.4 5.2 557 12447 0.00 0.00 59.08 0.226 8198 0.000 0.000 2994 2342 1419 1461 1377 0 0 0 0 0 0 28.83 28.83 14.62
12731 end climb: SURFACE_DEPTH_REACHED
state 12731 begin surface coast
12766 end surface coast: CONTROL_FINISHED_OK
state 12767 begin surface