OKMC Nov12 * SG124 * Dive index * Mission links * Dive 181 * 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  181 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  31 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  4 R_STBD_OVSHOOT  29 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  -13 T_GPS_CHARGE  -303777.56 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  091212,003059,1846.614,12215.864,37,1.1,42,-2.1 TGT_NAME  M3
_CALLS  1 TGT_LATLONG  1845.000,12224.280
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.30 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -58.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  091212,003831,1846.885,12215.663,11,1.5,11,-2.1 MHEAD_RNG_PITCHd_Wd  145.1,15510,-17.1,-11.310,-20.62
SPEED_LIMITS  0.196,0.301 D_GRID  1036

Post-dive calculations and measurements:
FINISH  1.8,1.011408 _10V_AH  9.8,23.540
SM_CCo  16478,0.00,0.000,0,0,259,551.92 FG_AHR_24Vo  69.418
SM_GC  2.62,6.90,1.23,0.00,0.047,0.044,0.000,43,2495,259,-10.20,-0.96,551.92,0,0,0,0,0,0,26.24,26.31,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1837.32,12204.18,081212,191916 MEM  306200
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  30051,780
HUMID  61.45 CAP_FILE_SIZE  183172,0
INTERNAL_PRESSURE  9.36559 CFSIZE  260034560,232865792
TCM_TEMP  24.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  10 CURRENT  0.179,347.1,1
SC_FREEKB  3950784 GPS  091212,051454,1846.228,12216.839,38,1.5,38,-2.1
_24V_AH  23.3,35.418

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18259112.84 nil000.00
Roll_motor12765195.18 nil000.00
VBD_pump_during_apogee586128217542.68 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon16425124639.50
Iridium_during_xfer281130851.63 nil000.00
Transponder_ping242024.46 nil000.00
GUMSTIX_24V000.00
GPS11293.51
TT8236314340.73
LPSleep115062246.96
TT8_Active6941394.99
TT8_Sampling209138792.70
TT8_CF827247127.30
TT8_Kalman000.00
Analog_circuits199516312.82
GPS_charging000.00
Compass17207126.26
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
19 -0.82 -194.6 0.0 0.0 0 91 0.00 0.00 -70.25 0.000 2 0.000 0.000 38 2511 1550 0 0 0 0 0 0 28.83 28.83 28.83
95 -0.82 -194.6 3.0 -2.2 12 173 8.93 2.28 -59.30 0.000 4 0.259 0.060 2090 1091 3304 0 0 0 0 0 0 25.81 26.34 26.78
324 -0.79 -194.6 40.6 -19.4 47 329 0.00 2.22 0.00 0.000 6 0.000 0.045 2090 2505 3305 0 0 0 0 0 0 28.83 26.44 28.83
637 -0.79 -194.6 98.7 -15.1 65 643 0.00 2.12 0.00 0.000 4 0.000 0.057 2090 3892 3305 0 0 0 0 0 0 28.83 26.50 28.83
715 -0.81 -194.6 105.6 -11.1 68 722 0.00 2.12 0.00 0.000 6 0.000 0.037 2090 2499 3305 0 0 0 0 0 0 28.83 26.65 28.83
1022 -0.85 -194.6 140.6 -10.6 84 1023 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2499 3306 0 0 0 0 0 0 28.83 28.83 28.83
1323 -0.90 -194.6 172.8 -10.3 99 1324 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2499 3306 0 0 0 0 0 0 28.83 28.83 28.83
1625 -0.96 -194.6 198.0 -7.6 114 1626 0.10 0.00 0.00 0.000 6 0.108 0.000 2045 2499 3306 0 0 0 0 0 0 26.92 28.83 28.83
1922 -0.99 -194.6 227.7 -10.0 129 1928 0.00 2.10 0.00 0.000 4 0.000 0.046 2044 1093 3306 0 0 0 0 0 0 28.83 26.71 28.83
1947 -1.02 -194.6 230.5 -10.4 130 1953 0.00 2.17 0.00 0.000 6 0.000 0.044 2043 2506 3306 0 0 0 0 0 0 28.83 26.72 28.83
2271 -1.05 -194.6 263.9 -10.4 146 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2506 3305 0 0 0 0 0 0 28.83 28.83 28.83
2573 -1.09 -194.6 292.4 -9.5 161 2578 0.00 2.12 0.00 0.000 4 0.000 0.059 2043 3878 3302 0 0 0 0 0 0 28.83 26.64 28.83
2607 -1.13 -194.6 294.7 -9.3 162 2613 0.00 2.12 0.00 0.000 6 0.000 0.041 2042 2492 3302 0 0 0 0 0 0 28.83 26.79 28.83
2921 -1.16 -194.6 323.4 -9.0 178 2926 0.00 2.12 0.00 0.000 4 0.000 0.047 2043 1092 3299 0 0 0 0 0 0 28.83 26.72 28.83
2958 -1.21 -194.6 325.6 -9.2 179 2967 0.12 2.20 0.00 0.000 6 0.096 0.044 1994 2504 3299 0 0 0 0 0 0 26.73 26.73 28.83
3264 -1.22 -194.6 364.1 -12.6 195 3270 0.00 2.22 0.00 0.000 4 0.000 0.047 1993 1081 3297 0 0 0 0 0 0 28.83 26.71 28.83
3342 -1.23 -194.6 372.7 -13.1 198 3349 0.00 2.20 0.00 0.000 6 0.000 0.047 1993 2496 3297 0 0 0 0 0 0 28.83 26.71 28.83
3648 -1.25 -194.6 412.1 -11.9 214 3650 0.00 0.00 -0.08 0.000 6 0.000 0.000 1993 2497 3314 0 0 0 0 0 0 28.83 28.83 25.92
3948 -1.27 -194.6 449.2 -12.5 229 3950 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2497 3313 0 0 0 0 0 0 28.83 28.83 28.83
4250 -1.29 -194.6 483.6 -11.1 244 4255 0.00 2.22 0.00 0.000 4 0.000 0.050 1993 1082 3311 0 0 0 0 0 0 28.83 26.69 28.83
4288 -1.31 -194.6 486.4 -11.1 245 4295 0.00 2.22 0.00 0.000 6 0.000 0.048 1993 2501 3310 0 0 0 0 0 0 28.83 26.68 28.83
4593 -1.33 -194.6 520.8 -10.9 261 4595 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2501 3308 0 0 0 0 0 0 28.83 28.83 28.83
4895 -1.36 -194.6 554.8 -11.2 276 4900 0.00 2.15 0.00 0.000 4 0.000 0.064 1993 3878 3305 0 0 0 0 0 0 28.83 26.56 28.83
4992 -1.39 -194.6 564.6 -11.6 280 4999 0.00 2.15 0.00 0.000 6 0.000 0.045 1993 2502 3304 0 0 0 0 0 0 28.83 26.73 28.83
5299 -1.41 -194.6 599.7 -10.9 296 5304 0.10 2.17 0.00 0.000 4 0.111 0.048 1954 1087 3302 0 0 0 0 0 0 26.96 26.65 28.83
5351 -1.43 -194.6 604.0 -11.5 298 5357 0.00 2.25 0.00 0.000 6 0.000 0.050 1954 2504 3302 0 0 0 0 0 0 28.83 26.64 28.83
5665 -1.43 -194.6 644.4 -11.8 309 5671 0.00 2.22 0.00 0.000 4 0.000 0.051 1954 1090 3300 0 0 0 0 0 0 28.83 26.63 28.83
5687 -1.43 -194.6 644.4 -11.8 309 5693 0.00 2.25 0.00 0.000 6 0.000 0.051 1954 2503 3300 0 0 0 0 0 0 28.83 26.63 28.83
6000 -1.43 -194.6 689.7 -14.1 320 6006 0.00 2.17 0.00 0.000 4 0.000 0.066 1954 3891 3298 0 0 0 0 0 0 28.83 26.51 28.83
6108 -1.43 -194.6 702.5 -13.9 323 6114 0.00 2.20 0.00 0.000 6 0.000 0.047 1954 2487 3297 0 0 0 0 0 0 28.83 26.67 28.83
6426 -1.43 -194.6 746.0 -12.8 334 6427 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2487 3295 0 0 0 0 0 0 28.83 28.83 28.83
6726 -1.43 -194.6 782.8 -12.2 344 6727 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2487 3293 0 0 0 0 0 0 28.83 28.83 28.83
7026 -1.43 -194.6 819.4 -12.2 354 7027 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2486 3291 0 0 0 0 0 0 28.83 28.83 28.83
7327 -1.43 -194.6 853.9 -10.9 364 7328 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2487 3290 0 0 0 0 0 0 28.83 28.83 28.83
7626 -1.43 -194.6 887.5 -11.2 374 7631 0.00 2.17 0.00 0.000 4 0.000 0.055 1954 1092 3288 0 0 0 0 0 0 28.83 26.55 28.83
7663 -1.43 -194.6 891.2 -11.1 375 7668 0.00 2.25 0.00 0.000 6 0.000 0.051 1954 2499 3288 0 0 0 0 0 0 28.83 26.55 28.83
7992 -1.43 -194.6 929.7 -12.1 386 7999 0.00 2.25 0.00 0.000 4 0.000 0.054 1954 1098 3286 0 0 0 0 0 0 28.83 26.52 28.83
8020 -1.43 -194.6 929.7 -12.1 386 8027 0.00 2.25 0.00 0.000 6 0.000 0.052 1954 2501 3286 0 0 0 0 0 0 28.83 26.53 28.83
8174 end dive: TARGET_DEPTH_EXCEEDED
state 8174 begin apogee
8181 -0.22 0.0 952.4 -12.3 392 8341 0.82 0.00 151.30 1.283 6 0.118 0.000 2225 1697 2509 0 0 0 0 0 0 26.16 28.83 24.12
8343 end apogee: CONTROL_FINISHED_OK
state 8343 begin climb
8345 0.82 194.6 960.0 0.0 397 8518 0.65 2.42 163.12 1.242 4 0.055 0.054 2466 3111 1714 0 0 0 0 0 0 25.27 24.32 23.37
8560 0.83 307.3 953.2 6.8 404 8665 0.00 2.42 96.32 1.210 6 0.000 0.049 2472 1699 1255 0 0 0 0 0 0 28.83 24.92 23.30
8994 0.83 307.3 901.9 11.6 419 8995 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1698 1246 0 0 0 0 0 0 28.83 28.83 28.83
9295 0.83 307.3 865.5 12.0 429 9300 0.00 2.25 0.00 0.000 4 0.000 0.064 2472 282 1244 0 0 0 0 0 0 28.83 26.28 28.83
9327 0.83 307.3 861.5 11.9 430 9333 0.00 2.28 0.00 0.000 6 0.000 0.047 2471 1712 1243 0 0 0 0 0 0 28.83 26.36 28.83
9661 0.83 307.3 820.4 12.4 441 9666 0.00 2.20 0.00 0.000 4 0.000 0.058 2472 3110 1243 0 0 0 0 0 0 28.83 26.43 28.83
9718 0.83 307.3 815.9 12.7 442 9725 0.00 2.28 0.00 0.000 6 0.000 0.052 2472 1697 1242 0 0 0 0 0 0 28.83 26.46 28.83
10024 0.83 307.3 773.1 12.4 453 10029 0.00 2.28 0.00 0.000 4 0.000 0.057 2472 3111 1242 0 0 0 0 0 0 28.83 26.48 28.83
10046 0.83 307.3 773.1 12.4 453 10051 0.00 2.28 0.00 0.000 6 0.000 0.052 2472 1698 1242 0 0 0 0 0 0 28.83 26.51 28.83
10361 0.84 307.3 732.3 11.9 464 10366 0.00 2.22 0.00 0.000 4 0.000 0.063 2472 292 1227 0 0 0 0 0 0 28.83 26.48 28.83
10413 0.85 307.3 728.3 12.1 465 10418 0.00 2.20 0.00 0.000 6 0.000 0.048 2472 1692 1241 0 0 0 0 0 0 28.83 26.58 28.83
10728 0.86 307.7 690.8 11.3 476 10733 0.00 2.22 0.00 0.000 4 0.000 0.057 2472 3118 1228 0 0 0 0 0 0 28.83 26.51 28.83
10779 0.86 307.7 686.6 11.7 477 10785 0.00 2.28 0.00 0.000 6 0.000 0.051 2472 1696 1241 0 0 0 0 0 0 28.83 26.56 28.83
11094 0.87 307.7 647.6 12.3 488 11096 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1696 1240 0 0 0 0 0 0 28.83 28.83 28.83
11392 0.89 307.7 610.7 12.4 498 11394 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1695 1240 0 0 0 0 0 0 28.83 28.83 28.83
11705 0.90 307.7 574.1 11.7 512 11706 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1695 1240 0 0 0 0 0 0 28.83 28.83 28.83
12004 0.93 329.8 540.9 10.4 527 12029 0.00 2.33 17.35 0.984 4 0.000 0.059 2475 3116 1133 0 0 0 0 0 0 28.83 26.46 25.44
12062 0.94 347.4 536.1 10.6 529 12087 0.00 2.30 16.10 0.956 6 0.000 0.051 2472 1692 1090 0 0 0 0 0 0 28.83 26.40 25.23
12388 0.97 347.4 495.9 11.9 546 12389 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1692 1087 0 0 0 0 0 0 28.83 28.83 28.83
12688 0.99 347.4 461.2 11.5 561 12693 0.00 2.22 0.00 0.000 4 0.000 0.062 2472 293 1085 0 0 0 0 0 0 28.83 26.37 28.83
12741 1.02 354.4 456.3 11.0 563 12754 0.10 2.25 6.28 0.769 6 0.106 0.047 2525 1713 1064 0 0 0 0 0 0 26.48 26.49 25.42
13051 1.02 354.4 412.5 14.0 579 13053 0.12 0.00 0.00 0.000 6 0.137 0.000 2488 1739 1062 0 0 0 0 0 0 26.55 28.83 28.83
13351 1.04 354.4 376.8 11.4 594 13357 0.00 2.30 0.00 0.000 4 0.000 0.060 2488 283 1062 0 0 0 0 0 0 28.83 26.46 28.83
13388 1.06 354.4 374.2 11.4 595 13395 0.00 2.22 0.00 0.000 6 0.000 0.047 2488 1707 1061 0 0 0 0 0 0 28.83 26.54 28.83
13695 1.09 372.5 339.4 10.6 611 13719 0.10 2.35 15.98 0.823 4 0.103 0.060 2550 285 990 0 0 0 0 0 0 26.85 26.48 25.58
13791 1.09 372.5 327.3 14.5 615 13798 0.15 2.25 0.00 0.000 6 0.122 0.046 2506 1699 987 0 0 0 0 0 0 26.29 26.44 28.83
14097 1.11 372.5 286.1 12.5 631 14103 0.00 2.22 0.00 0.000 4 0.000 0.057 2506 3118 986 0 0 0 0 0 0 28.83 26.41 28.83
14180 1.11 372.5 274.9 13.4 635 14186 0.00 2.25 0.00 0.000 6 0.000 0.049 2512 1692 986 0 0 0 0 0 0 28.83 26.48 28.83
14504 1.12 372.5 229.6 13.0 651 14509 0.00 2.20 0.00 0.000 4 0.000 0.060 2512 296 985 0 0 0 0 0 0 28.83 26.45 28.83
14588 1.15 372.5 218.5 13.3 655 14594 0.00 2.22 0.00 0.000 6 0.000 0.044 2512 1713 985 0 0 0 0 0 0 28.83 26.57 28.83
14912 1.19 393.3 180.0 10.5 671 14936 0.00 2.17 17.27 0.701 4 0.000 0.054 2512 3113 905 0 0 0 0 0 0 28.83 26.51 25.69
15016 1.21 402.7 168.8 10.9 676 15031 0.10 2.25 8.77 0.629 6 0.099 0.048 2561 1700 867 0 0 0 0 0 0 26.44 26.43 25.55
15339 1.21 402.7 121.3 14.1 692 15345 0.10 2.22 0.00 0.000 4 0.140 0.056 2537 282 865 0 0 0 0 0 0 26.60 26.41 28.83
15467 1.26 415.7 107.4 10.8 698 15484 0.00 2.22 11.38 0.604 6 0.000 0.041 2537 1712 813 0 0 0 0 0 0 28.83 26.54 25.67
15784 1.35 481.5 76.1 8.7 714 15837 0.12 0.00 50.53 0.614 6 0.090 0.000 2609 1716 546 0 0 0 0 0 0 26.70 28.83 25.41
16125 1.38 481.5 33.3 11.5 737 16131 0.12 2.28 0.00 0.000 4 0.126 0.053 2566 286 542 0 0 0 0 0 0 26.38 26.31 28.83
16224 1.50 550.3 24.1 8.6 747 16267 0.12 2.20 32.47 0.522 6 0.093 0.039 2627 1715 264 0 0 0 0 0 0 26.43 26.46 25.58
16385 end climb: SURFACE_DEPTH_REACHED
state 16385 begin surface coast
16401 end surface coast: CONTROL_FINISHED_OK
state 16401 begin surface