DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 26 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  172 HEADING  -1 ROLL_MIN  160 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MAX  3717 ALTIM_TOP_TURN_MARGIN  0
DIVE  26 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  4 FIX_MISSING_TIMEOUT  1 C_ROLL_DIVE  1850 ALTIM_PING_DEPTH  400
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1700 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  1
D_NO_BLEED  500 SM_CC  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  3
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  19 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  31 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  460 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3960 DEVICE1  2
T_DIVE  330 CALL_TRIES  5 C_VBD  2940 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  4 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  300 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -4626.897 UNCOM_BLEED  50 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  15 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  154 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3948 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3025 FG_AHR_24V  0 SEABIRD_T_G  0.0043614767
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062996609
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_YINT  -55.981045 SEABIRD_T_I  2.5014444e-05
MASS  51891 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001168426 SEABIRD_T_J  2.7838146e-06
NAV_MODE  2 PITCH_GAIN  38 AD7714Ch0Gain  128 SEABIRD_C_G  -10.228213
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1292607
KALMAN_USE  2 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.001076734
HD_A  0.003 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00017059842
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.032000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  192337,6654.700,-5841.857,32,1.0,32,-37.9 TGT_NAME  TARGET_W_IN
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  7 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.35 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  192950,6654.694,-5841.853,13,1.6,13,-37.9 MHEAD_RNG_PITCHd_Wd  284.9,78722,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  990

Post-dive calculations and measurements:
FINISH  1.5,1.024719 _24V_AH  23.1,7.615
SM_CCo  18276,0.00,0.000,0,0,1551,340.48 _10V_AH  10.2,3.200
SM_GC  2.77,8.30,0.00,0.00,0.059,0.000,0.000,142,1851,1551,-8.94,0.03,340.48 FG_AHR_24Vo  0.000
RAFOS_CLK  934 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150308
IRIDIUM_FIX  6625.71,-5841.50,180199,141422 DATA_FILE_SIZE  59780,1464
TT8_MAMPS  0.052156 CAP_FILE_SIZE  191222,0
HUMID  39.25 CFSIZE  260165632,250290176
INTERNAL_PRESSURE  9.44372 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.90 SOUNDSPEED  1458.4
XPDR_PINGS  0 CURRENT  0.229,158.8,1
ALTIM_BOTTOM_PING  850.3,151.4 GPS  251009,003601,6651.530,-5845.427,68,1.4,68,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23249132.58 SBE_CT102724569.68
Roll_motor17092361.49 SBE_O2109519480.69
VBD_pump_during_apogee429126012517.71 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910369.53 nil000.00
Iridium_during_connect59160218.98 nil000.00
Iridium_during_xfer194223999.65
Transponder_ping242026.68
GUMSTIX_24V000.00
GPS13506.73
TT80190.00
LPSleep144852341.30
TT8_Active59519120.96
TT8_Sampling3139391278.20
TT8_CF840345188.86
TT8_Kalman000.00
Analog_circuits191012233.90
GPS_charging000.00
Compass25088204.65
RAFOS4320166.10
Transponder25307.79

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
11 end surface: CONTROL_FINISHED_OK
state 11 begin dive
12 -0.64 -146.0 0.0 0.0 0 68 0.00 0.00 -53.95 0.000 2 0.000 0.000 121 1861 2415 0 0 0 0 0 0
69 -0.64 -146.0 3.3 -2.6 10 122 10.75 2.35 -33.17 0.000 4 0.249 0.092 2799 3240 3538 0 0 0 0 0 0
130 -0.38 -146.0 12.4 -19.3 23 136 0.32 2.28 0.00 0.000 6 0.166 0.068 2892 1849 3538 0 0 0 0 0 0
455 -0.55 -146.0 46.8 -8.5 84 461 0.15 2.33 0.00 0.000 4 0.096 0.079 2828 434 3539 0 0 0 0 0 0
477 -0.55 -146.0 49.6 -13.1 89 483 0.00 2.28 0.00 0.000 6 0.000 0.060 2822 1836 3539 0 0 0 0 0 0
802 -0.55 -146.0 94.9 -13.5 150 808 0.00 2.35 0.00 0.000 4 0.000 0.078 2823 3251 3539 0 0 0 0 0 0
841 -0.64 -146.0 99.7 -11.3 159 847 0.00 2.28 0.00 0.000 6 0.000 0.067 2823 1858 3539 0 0 0 0 0 0
1155 -0.64 -146.0 140.8 -13.3 190 1159 0.00 2.33 0.00 0.000 4 0.000 0.078 2823 441 3539 0 0 0 0 0 0
1273 -0.64 -146.0 157.3 -13.8 203 1278 0.00 2.25 0.00 0.000 6 0.000 0.060 2814 1846 3539 0 0 0 0 0 0
1587 -0.64 -146.0 201.5 -13.9 234 1591 0.00 2.33 0.00 0.000 4 0.000 0.079 2814 437 3539 0 0 0 0 0 0
1613 -0.64 -146.0 205.3 -14.3 237 1617 0.00 2.28 0.00 0.000 6 0.000 0.061 2811 1851 3539 0 0 0 0 0 0
1931 -0.64 -146.0 248.5 -13.0 268 1932 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 1852 3538 0 0 0 0 0 0
2245 -0.64 -146.0 286.0 -11.6 298 2248 0.00 2.28 0.00 0.000 4 0.000 0.079 2811 441 3538 0 0 0 0 0 0
2274 -0.64 -146.0 289.8 -11.9 301 2278 0.00 2.25 0.00 0.000 6 0.000 0.061 2807 1850 3538 0 0 0 0 0 0
2592 -0.64 -146.0 327.2 -11.9 332 2597 0.00 2.33 0.00 0.000 4 0.000 0.079 2807 445 3538 0 0 0 0 0 0
2627 -0.64 -146.0 331.5 -12.2 336 2631 0.00 2.22 0.00 0.000 6 0.000 0.060 2807 1846 3538 0 0 0 0 0 0
2945 -0.64 -146.0 368.0 -11.2 367 2946 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1846 3538 0 0 0 0 0 0
3256 -0.64 -146.0 403.0 -11.9 397 3260 0.00 2.30 0.00 0.000 4 0.000 0.077 2807 437 3538 0 0 0 0 0 0
3290 -0.64 -146.0 407.2 -11.7 401 3294 0.00 2.25 0.00 0.000 6 0.000 0.059 2807 1851 3538 0 0 0 0 0 0
3609 -0.64 -146.0 444.4 -12.1 432 3610 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1853 3539 0 0 0 0 0 0
3920 -0.64 -146.0 479.8 -11.0 462 3924 0.00 2.30 0.00 0.000 4 0.000 0.077 2807 439 3538 0 0 0 0 0 0
3967 -0.64 -146.0 485.5 -11.8 467 3973 0.00 2.22 0.00 0.000 6 0.000 0.059 2807 1847 3539 0 0 0 0 0 0
4282 -0.64 -146.0 519.4 -10.4 498 4282 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1847 3539 0 0 0 0 0 0
4592 -0.64 -146.0 553.1 -10.8 528 4596 0.00 2.28 0.00 0.000 4 0.000 0.077 2807 442 3539 0 0 0 0 0 0
4613 -0.64 -146.0 555.5 -11.4 530 4619 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1848 3539 0 0 0 0 0 0
4928 -0.67 -146.0 589.3 -10.7 561 4929 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1847 3539 0 0 0 0 0 0
5244 -0.71 -146.0 622.7 -10.5 578 5248 0.00 2.28 0.00 0.000 4 0.000 0.076 2807 442 3540 0 0 0 0 0 0
5274 -0.71 -146.0 626.0 -11.6 579 5278 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1850 3540 0 0 0 0 0 0
5608 -0.76 -146.0 660.2 -10.2 590 5609 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1850 3540 0 0 0 0 0 0
5911 -0.79 -146.0 690.7 -10.0 600 5912 0.12 0.00 0.00 0.000 6 0.107 0.000 2749 1850 3540 0 0 0 0 0 0
6215 -0.66 -146.0 735.7 -15.3 610 6219 0.20 2.28 0.00 0.000 4 0.163 0.077 2808 432 3540 0 0 0 0 0 0
6244 -0.66 -146.0 739.9 -12.6 611 6248 0.00 2.25 0.00 0.000 6 0.000 0.059 2807 1853 3540 0 0 0 0 0 0
6578 -0.71 -146.0 775.9 -10.6 622 6582 0.00 2.30 0.00 0.000 4 0.000 0.077 2807 435 3540 0 0 0 0 0 0
6595 -0.74 -146.0 777.8 -11.3 622 6599 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1846 3540 0 0 0 0 0 0
6912 -0.79 -146.0 810.4 -10.1 633 6913 0.10 0.00 0.00 0.000 6 0.117 0.000 2759 1846 3540 0 0 0 0 0 0
7218 -0.70 -146.0 850.3 -13.4 643 7219 0.15 0.00 0.00 0.000 6 0.170 0.000 2803 1846 3540 0 0 0 0 0 0
7519 -0.74 -146.0 882.2 -10.3 653 7522 0.00 2.28 0.00 0.000 4 0.000 0.077 2803 437 3540 0 0 0 0 0 0
7553 -0.78 -146.0 885.9 -10.6 654 7557 0.00 2.22 0.00 0.000 6 0.000 0.059 2795 1849 3540 0 0 0 0 0 0
7882 -0.78 -146.0 920.4 -10.6 665 7886 0.00 2.28 0.00 0.000 4 0.000 0.077 2795 443 3540 0 0 0 0 0 0
7903 -0.78 -146.0 922.9 -12.0 665 7907 0.00 2.22 0.00 0.000 6 0.000 0.059 2795 1851 3540 0 0 0 0 0 0
8215 -0.78 -146.0 955.4 -10.4 676 8219 0.00 2.28 0.00 0.000 4 0.000 0.077 2795 441 3540 0 0 0 0 0 0
8237 -0.78 -146.0 957.7 -11.4 676 8241 0.00 2.20 0.00 0.000 6 0.000 0.058 2795 1843 3540 0 0 0 0 0 0
8548 end dive: TARGET_DEPTH_EXCEEDED
state 8548 begin apogee
8550 -0.13 0.0 990.8 10.7 687 8679 0.57 0.00 125.95 1.261 6 0.143 0.000 2980 1690 2940 0 0 0 0 0 0
8679 end apogee: CONTROL_FINISHED_OK
state 8679 begin climb
8680 0.64 146.0 995.5 0.0 691 8814 0.73 0.00 130.48 1.223 6 0.091 0.000 3228 1690 2344 0 0 0 0 0 0
9098 0.55 174.9 973.7 8.7 705 9129 0.00 2.45 25.40 1.170 4 0.000 0.069 3228 3107 2226 0 0 0 0 0 0
9232 0.42 174.9 959.7 11.4 709 9236 0.20 2.40 0.00 0.000 6 0.159 0.066 3165 1706 2222 0 0 0 0 0 0
9553 0.58 237.6 936.0 7.1 720 9615 0.15 2.50 57.10 1.192 4 0.097 0.078 3238 284 1970 0 0 0 0 0 0
9649 0.51 237.6 925.5 13.1 723 9653 0.12 2.38 0.00 0.000 6 0.150 0.052 3199 1696 1967 0 0 0 0 0 0
9974 0.55 237.6 891.2 10.7 734 9978 0.00 2.38 0.00 0.000 4 0.000 0.071 3199 3103 1960 0 0 0 0 0 0
9999 0.55 237.6 888.5 10.3 734 10005 0.00 2.35 0.00 0.000 6 0.000 0.064 3207 1701 1959 0 0 0 0 0 0
10307 0.55 237.6 854.6 11.1 745 10311 0.00 2.35 0.00 0.000 4 0.000 0.078 3217 294 1958 0 0 0 0 0 0
10363 0.55 237.6 847.9 12.2 746 10369 0.00 2.25 0.00 0.000 6 0.000 0.054 3217 1696 1958 0 0 0 0 0 0
10671 0.55 237.6 812.1 11.6 757 10675 0.00 2.33 0.00 0.000 4 0.000 0.071 3217 3108 1957 0 0 0 0 0 0
10709 0.55 237.6 807.5 13.5 758 10714 0.00 2.33 0.00 0.000 6 0.000 0.067 3227 1700 1957 0 0 0 0 0 0
11035 0.51 237.6 769.2 11.7 769 11038 0.12 2.30 0.00 0.000 4 0.185 0.078 3204 287 1957 0 0 0 0 0 0
11086 0.56 237.6 763.8 11.0 770 11090 0.00 2.25 0.00 0.000 6 0.000 0.055 3204 1694 1956 0 0 0 0 0 0
11398 0.56 240.7 732.8 9.9 781 11402 0.00 2.33 0.00 0.000 4 0.000 0.073 3204 3112 1956 0 0 0 0 0 0
11424 0.56 240.7 730.0 10.9 781 11429 0.00 2.30 0.00 0.000 6 0.000 0.065 3213 1700 1956 0 0 0 0 0 0
11731 0.56 240.7 697.8 10.4 792 11735 0.00 2.33 0.00 0.000 4 0.000 0.079 3223 295 1956 0 0 0 0 0 0
11779 0.56 240.7 692.5 10.5 793 11783 0.00 2.22 0.00 0.000 6 0.000 0.055 3223 1699 1956 0 0 0 0 0 0
12095 0.56 240.7 657.5 11.1 804 12099 0.00 2.33 0.00 0.000 4 0.000 0.073 3223 3111 1956 0 0 0 0 0 0
12138 0.53 240.7 652.6 12.1 805 12142 0.10 2.30 0.00 0.000 6 0.159 0.068 3201 1701 1955 0 0 0 0 0 0
12459 0.59 251.6 621.8 9.5 816 12475 0.00 2.35 10.88 0.957 4 0.000 0.079 3210 286 1914 0 0 0 0 0 0
12531 0.64 251.6 614.4 10.3 818 12535 0.00 2.25 0.00 0.000 6 0.000 0.055 3210 1698 1912 0 0 0 0 0 0
12845 0.64 251.6 581.5 10.3 838 12849 0.00 2.30 0.00 0.000 4 0.000 0.073 3210 3109 1912 0 0 0 0 0 0
12874 0.64 251.6 578.0 11.1 841 12880 0.00 2.30 0.00 0.000 6 0.000 0.065 3220 1698 1910 0 0 0 0 0 0
13189 0.64 251.6 543.2 11.1 872 13193 0.00 2.30 0.00 0.000 4 0.000 0.078 3228 288 1910 0 0 0 0 0 0
13237 0.64 251.6 537.6 10.9 877 13242 0.00 2.22 0.00 0.000 6 0.000 0.054 3229 1695 1911 0 0 0 0 0 0
13551 0.64 251.6 500.5 11.5 908 13555 0.00 2.30 0.00 0.000 4 0.000 0.073 3229 3107 1910 0 0 0 0 0 0
13590 0.64 251.6 495.8 13.3 912 13596 0.00 2.30 0.00 0.000 6 0.000 0.067 3239 1697 1910 0 0 0 0 0 0
13904 0.60 251.6 457.1 12.1 943 13908 0.00 2.30 0.00 0.000 4 0.000 0.078 3249 284 1909 0 0 0 0 0 0
13939 0.53 251.6 452.5 12.9 947 13943 0.10 2.22 0.00 0.000 6 0.158 0.054 3202 1699 1909 0 0 0 0 0 0
14258 0.60 257.2 420.2 9.7 978 14268 0.00 0.00 6.05 0.765 6 0.000 0.000 3202 1700 1891 0 0 0 0 0 0
14578 0.68 259.4 388.8 9.9 1009 14579 0.12 0.00 0.00 0.000 6 0.107 0.000 3255 1701 1889 0 0 0 0 0 0
14888 0.60 259.4 350.1 12.5 1039 14889 0.12 0.00 0.00 0.000 6 0.174 0.000 3221 1700 1889 0 0 0 0 0 0
15198 0.60 259.4 317.4 10.5 1069 15202 0.00 2.30 0.00 0.000 4 0.000 0.074 3220 3103 1889 0 0 0 0 0 0
15237 0.60 259.4 313.2 10.6 1073 15246 0.00 2.28 3.62 0.558 6 0.000 0.068 3230 1700 1881 0 0 0 0 0 0
15560 0.60 259.4 278.0 10.7 1105 15564 0.00 2.30 0.00 0.000 4 0.000 0.078 3239 294 1881 0 0 0 0 0 0
15612 0.60 259.4 272.3 10.7 1111 15616 0.00 2.22 0.00 0.000 6 0.000 0.055 3240 1703 1881 0 0 0 0 0 0
15931 0.60 259.4 239.2 10.0 1142 15932 0.00 0.00 0.00 0.000 6 0.000 0.000 3239 1705 1881 0 0 0 0 0 0
16242 0.60 259.4 209.7 10.5 1172 16245 0.00 2.22 0.00 0.000 4 0.000 0.073 3240 3108 1881 0 0 0 0 0 0
16263 0.60 259.4 207.4 10.8 1174 16270 0.08 2.28 0.00 0.000 6 0.165 0.067 3223 1700 1880 0 0 0 0 0 0
16577 0.70 283.4 178.0 8.9 1205 16604 0.00 2.30 22.25 0.759 4 0.000 0.077 3233 284 1783 0 0 0 0 0 0
16625 0.83 322.2 173.5 8.2 1210 16666 0.12 2.25 35.28 0.742 6 0.071 0.054 3296 1700 1625 0 0 0 0 0 0
16975 0.77 322.2 124.3 13.0 1245 16978 0.00 2.33 0.00 0.000 4 0.000 0.072 3296 3106 1615 0 0 0 0 0 0
17035 0.71 322.2 116.2 10.9 1252 17039 0.10 2.30 0.00 0.000 6 0.167 0.065 3260 1707 1614 0 0 0 0 0 0
17359 0.77 322.2 83.4 11.0 1298 17364 0.00 2.30 0.00 0.000 4 0.000 0.077 3271 286 1613 0 0 0 0 0 0
17450 0.81 322.2 73.0 11.6 1319 17456 0.00 2.25 0.00 0.000 6 0.000 0.055 3271 1699 1612 0 0 0 0 0 0
17775 0.90 338.3 40.2 9.3 1380 17794 0.12 2.35 12.75 0.673 4 0.107 0.081 3335 295 1559 0 0 0 0 0 0
17858 0.79 338.3 28.8 14.7 1399 17864 0.15 2.25 0.00 0.000 6 0.153 0.056 3286 1698 1557 0 0 0 0 0 0
18155 end climb: SURFACE_DEPTH_REACHED
state 18155 begin surface coast
18204 end surface coast: CONTROL_FINISHED_OK
state 18204 begin surface