SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 326 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  326 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  4 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  37 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  30 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  2 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  -3 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  1000 T_GPS_CHARGE  -14379.247 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  184637,6502.295,-52.157,48,0.9,48,-5.8 TGT_NAME  INSHORE
_CALLS  3 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  4 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.69 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -60.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  185902,6502.242,-52.153,15,1.4,15,-5.8 MHEAD_RNG_PITCHd_Wd  147.9,328377,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  1000

Post-dive calculations and measurements:
FINISH  3.0,1.026738 _24V_AH  21.4,52.966
SM_CCo  26661,0.00,0.000,0,0,2069,239.66 _10V_AH  10.4,40.796
SM_GC  3.82,7.25,0.00,0.00,0.051,0.000,0.000,135,2172,2069,-7.66,-0.23,239.66 DATA_FILE_SIZE  66304,1306
IRIDIUM_FIX  6431.40,-55.93,280798,181823 CAP_FILE_SIZE  202334,0
TT8_MAMPS  0.026845 CFSIZE  260165632,226361344
HUMID  1747 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.06672 CURRENT  0.054,114.3,1
TCM_TEMP  17.40 GPS  040509,022501,6459.338,-45.907,38,1.4,38,-5.7
XPDR_PINGS  1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor33211150.29 SBE_CT94924487.41
Roll_motor15083268.95 SBE_O291019370.01
VBD_pump_during_apogee32814079880.64 WL_BB2F6431051445.31
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init80103177.60 nil000.00
Iridium_during_connect143160492.73 nil000.00
Iridium_during_xfer2662231273.03
Transponder_ping04202.25
Mmodem_TX000.00
Mmodem_RX000.00
GPS17509.01
TT8260419536.33
LPSleep207472472.54
TT8_Active52119107.33
TT8_Sampling2663391102.52
TT8_CF885845408.76
TT8_Kalman000.00
Analog_circuits184612230.43
GPS_charging000.00
Compass26248218.36
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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.77 -116.7 0.0 0.0 0 25 0.00 0.00 -8.57 0.000 2 0.000 0.000 123 2159 2150
28 -0.77 -116.7 3.6 -0.0 1 128 8.55 2.45 -85.30 0.000 4 0.212 0.061 2364 3596 3522
331 -0.56 -116.7 21.9 -10.4 52 340 0.15 2.28 0.00 0.000 6 0.122 0.034 2429 2184 3524
679 -0.56 -116.7 48.1 -6.9 113 685 0.00 2.25 0.00 0.000 4 0.000 0.046 2429 766 3525
737 -0.56 -116.7 52.2 -7.0 123 743 0.00 2.22 0.00 0.000 6 0.000 0.038 2429 2176 3524
1081 -0.56 -116.7 72.8 -6.5 184 1088 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2176 3525
1427 -0.56 -116.7 94.0 -5.8 245 1433 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2175 3526
1771 -0.62 -116.7 117.8 -6.9 306 1777 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2176 3526
2117 -0.69 -116.7 139.8 -6.2 367 2122 0.12 0.00 0.00 0.000 6 0.069 0.000 2376 2176 3526
2449 -0.54 -116.7 168.1 -8.6 403 2451 0.20 0.00 0.00 0.000 6 0.122 0.000 2438 2175 3526
2763 -0.66 -116.7 187.1 -6.1 423 2764 0.12 0.00 0.00 0.000 6 0.072 0.000 2384 2176 3526
3083 -0.55 -116.7 215.1 -9.0 441 3085 0.17 0.00 0.00 0.000 6 0.124 0.000 2438 2176 3526
3392 -0.67 -116.7 236.0 -6.5 456 3397 0.12 2.28 0.00 0.000 4 0.073 0.045 2384 765 3526
3437 -0.51 -116.7 239.8 -9.1 458 3441 0.22 2.25 0.00 0.000 6 0.125 0.038 2450 2190 3526
3758 -0.70 -116.7 258.2 -5.7 474 3760 0.20 0.00 0.00 0.000 6 0.061 0.000 2367 2192 3526
4068 -0.52 -116.7 285.6 -8.8 489 4070 0.25 0.00 0.00 0.000 6 0.122 0.000 2445 2192 3526
4376 -0.69 -116.7 304.2 -5.9 503 4378 0.17 0.00 0.00 0.000 6 0.061 0.000 2373 2192 3526
4682 -0.55 -116.7 332.4 -9.4 513 4684 0.20 0.00 0.00 0.000 6 0.121 0.000 2435 2191 3526
4989 -0.68 -116.7 353.4 -6.8 523 4990 0.12 0.00 0.00 0.000 6 0.074 0.000 2380 2192 3525
5294 -0.56 -116.7 380.6 -9.0 533 5299 0.17 2.33 0.00 0.000 4 0.125 0.047 2434 762 3525
5327 -0.65 -116.7 383.3 -7.8 534 5331 0.00 2.25 0.00 0.000 6 0.000 0.038 2434 2185 3524
5665 -0.79 -116.7 406.6 -6.9 545 5667 0.22 0.00 0.00 0.000 6 0.058 0.000 2339 2186 3524
5969 -0.50 -116.7 438.8 -10.7 555 5973 0.32 2.33 0.00 0.000 4 0.125 0.049 2445 768 3524
6007 -0.66 -116.7 441.9 -7.3 556 6012 0.15 2.25 0.00 0.000 6 0.068 0.041 2383 2173 3524
6331 -0.57 -116.7 469.0 -8.5 567 6333 0.15 0.00 0.00 0.000 6 0.130 0.000 2428 2173 3523
6638 -0.69 -116.7 489.9 -6.8 577 6643 0.12 2.33 0.00 0.000 4 0.072 0.051 2376 3588 3522
6677 -0.58 -116.7 493.1 -8.5 578 6682 0.17 2.25 0.00 0.000 6 0.128 0.038 2429 2181 3522
7001 -0.71 -116.7 513.6 -6.2 589 7003 0.12 0.00 0.00 0.000 6 0.072 0.000 2376 2181 3522
7306 -0.60 -116.7 537.3 -7.7 599 7311 0.15 2.30 0.00 0.000 4 0.129 0.051 2422 766 3522
7339 -0.60 -116.7 539.7 -6.8 600 7344 0.00 2.25 0.00 0.000 6 0.000 0.041 2421 2176 3522
7671 -0.68 -116.7 560.2 -6.2 611 7675 0.00 2.33 0.00 0.000 4 0.000 0.055 2422 3597 3521
7699 -0.79 -116.7 562.1 -6.8 612 7704 0.20 2.28 0.00 0.000 6 0.065 0.038 2341 2167 3521
8040 -0.53 -116.7 593.6 -9.2 623 8045 0.28 2.25 0.00 0.000 4 0.129 0.048 2432 768 3521
8129 -0.63 -116.7 599.7 -6.4 625 8136 0.00 2.25 0.00 0.000 6 0.000 0.041 2432 2187 3521
8471 -0.78 -116.7 620.1 -6.0 632 8473 0.20 0.00 0.00 0.000 6 0.063 0.000 2350 2188 3520
8773 -0.57 -116.7 648.0 -9.4 637 8775 0.25 0.00 0.00 0.000 6 0.125 0.000 2428 2189 3520
9076 -0.70 -116.7 668.0 -6.6 642 9078 0.12 0.00 0.00 0.000 6 0.072 0.000 2377 2189 3519
9379 -0.62 -116.7 693.8 -8.6 647 9381 0.12 0.00 0.00 0.000 6 0.134 0.000 2414 2189 3519
9683 -0.71 -116.7 714.8 -6.8 652 9684 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2189 3519
9986 -0.80 -116.7 734.5 -6.4 657 9991 0.17 2.33 0.00 0.000 4 0.067 0.058 2340 3583 3519
10035 -0.58 -116.7 738.9 -9.0 657 10040 0.28 2.28 0.00 0.000 6 0.127 0.041 2423 2174 3518
10346 -0.72 -116.7 757.1 -5.7 662 10351 0.12 2.35 0.00 0.000 4 0.079 0.058 2372 3582 3518
10380 -0.64 -116.7 759.5 -7.2 662 10385 0.12 2.28 0.00 0.000 6 0.137 0.041 2407 2164 3518
10706 -0.64 -116.7 779.1 -5.9 668 10707 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2164 3518
11010 -0.64 -116.7 796.8 -5.8 673 11012 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2164 3518
11312 -0.64 -116.7 813.8 -5.6 678 11316 0.00 2.35 0.00 0.000 4 0.000 0.054 2407 3591 3518
11385 -0.72 -116.7 817.9 -5.3 679 11389 0.00 2.28 0.00 0.000 6 0.000 0.041 2407 2172 3518
11741 -0.79 -116.7 837.8 -5.6 685 11743 0.15 0.00 0.00 0.000 6 0.073 0.000 2348 2171 3517
12043 -0.60 -116.7 861.7 -8.0 690 12045 0.22 0.00 0.00 0.000 6 0.130 0.000 2416 2169 3517
12346 -0.70 -116.7 879.4 -5.8 695 12347 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2170 3517
12650 -0.80 -116.7 896.6 -5.7 700 12655 0.17 2.40 0.00 0.000 4 0.067 0.058 2346 3593 3517
12683 -0.60 -116.7 899.2 -7.7 700 12688 0.25 2.28 0.00 0.000 6 0.127 0.041 2421 2186 3517
13010 -0.74 -116.7 918.0 -5.6 706 13011 0.15 0.00 0.00 0.000 6 0.071 0.000 2360 2186 3517
13313 -0.60 -116.7 941.1 -7.7 711 13315 0.20 0.00 0.00 0.000 6 0.125 0.000 2421 2185 3517
13616 -0.74 -116.7 957.0 -5.2 716 13620 0.15 2.30 0.00 0.000 4 0.070 0.048 2359 760 3516
13643 -0.61 -116.7 959.1 -7.2 716 13647 0.20 2.25 0.00 0.000 6 0.137 0.041 2417 2186 3516
13981 -0.73 -116.7 977.2 -5.3 722 13983 0.12 0.00 0.00 0.000 6 0.072 0.000 2365 2187 3516
14219 end dive: TARGET_DEPTH_EXCEEDED
state 14219 begin apogee
14226 -0.23 0.0 994.4 7.1 726 14331 0.55 0.00 102.30 1.407 6 0.121 0.000 2539 2265 3045
14332 end apogee: CONTROL_FINISHED_OK
state 14332 begin climb
14334 0.77 116.7 996.2 0.0 727 14452 1.00 2.62 110.25 1.368 4 0.074 0.050 2864 3680 2569
14474 0.35 131.7 993.9 6.3 730 14504 0.52 2.50 16.92 1.142 6 0.138 0.033 2728 2252 2508
14833 0.70 193.5 977.7 4.4 736 14898 0.28 2.38 55.78 1.364 4 0.057 0.045 2840 863 2255
14993 0.62 193.5 964.0 9.2 738 14997 0.00 2.30 0.00 0.000 6 0.000 0.036 2840 2263 2250
15330 0.53 193.5 933.1 9.1 744 15332 0.20 0.00 0.00 0.000 6 0.130 0.000 2780 2263 2247
15635 0.71 203.7 913.1 6.5 749 15646 0.17 0.00 9.05 1.201 6 0.062 0.000 2853 2263 2215
15936 0.57 203.7 883.8 9.9 754 15938 0.20 0.00 0.00 0.000 6 0.125 0.000 2793 2264 2213
16239 0.70 203.7 862.3 6.9 759 16241 0.15 0.00 0.00 0.000 6 0.066 0.000 2855 2263 2212
16543 0.58 203.7 834.7 9.2 764 16545 0.20 0.00 0.00 0.000 6 0.126 0.000 2794 2263 2211
16846 0.70 209.2 814.0 6.7 769 16855 0.15 0.00 6.12 1.071 6 0.067 0.000 2856 2263 2193
17148 0.57 209.2 785.8 9.5 774 17150 0.20 0.00 0.00 0.000 6 0.123 0.000 2796 2263 2191
17451 0.69 209.2 764.0 7.1 779 17456 0.12 2.28 0.00 0.000 4 0.074 0.047 2851 861 2191
17496 0.60 209.2 760.1 9.1 779 17501 0.15 2.22 0.00 0.000 6 0.133 0.036 2807 2272 2190
17811 0.68 209.2 736.8 7.3 785 17812 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2272 2190
18114 0.77 209.2 714.7 7.3 790 18115 0.17 0.00 0.00 0.000 6 0.063 0.000 2881 2272 2190
18417 0.57 209.2 683.3 10.5 795 18419 0.28 0.00 0.00 0.000 6 0.124 0.000 2795 2272 2190
18720 0.71 209.2 661.6 6.9 800 18724 0.12 2.30 0.00 0.000 4 0.074 0.049 2850 853 2190
18760 0.61 209.2 658.2 8.8 800 18765 0.15 2.22 0.00 0.000 6 0.131 0.036 2806 2265 2189
19080 0.71 209.2 634.4 7.2 806 19085 0.10 2.28 0.00 0.000 4 0.081 0.052 2852 3683 2189
19141 0.53 209.2 628.4 9.5 806 19148 0.25 2.25 0.00 0.000 6 0.133 0.035 2780 2253 2189
19451 0.75 221.3 608.3 6.4 812 19470 0.20 2.28 11.80 1.108 4 0.057 0.046 2871 854 2143
19539 0.62 221.3 600.0 9.5 813 19544 0.20 2.22 0.00 0.000 6 0.127 0.036 2812 2265 2141
19854 0.71 221.3 575.8 7.7 823 19858 0.00 2.30 0.00 0.000 4 0.000 0.050 2812 3687 2140
19915 0.71 221.3 570.5 8.3 824 19924 0.00 2.25 0.00 0.000 6 0.000 0.034 2811 2252 2140
20228 0.80 221.3 546.0 8.0 835 20233 0.17 2.20 0.00 0.000 4 0.062 0.044 2891 859 2140
20324 0.60 221.3 535.6 11.3 838 20329 0.28 2.20 0.00 0.000 6 0.129 0.035 2807 2271 2140
20660 0.72 221.3 508.5 7.8 849 20664 0.12 2.30 0.00 0.000 4 0.077 0.055 2861 3685 2139
20711 0.53 221.3 503.2 10.7 850 20716 0.28 2.25 0.00 0.000 6 0.132 0.035 2782 2250 2139
21030 0.77 221.3 480.2 7.1 861 21035 0.20 2.22 0.00 0.000 4 0.058 0.048 2873 850 2139
21119 0.64 221.3 470.9 10.9 863 21126 0.20 2.20 0.00 0.000 6 0.129 0.035 2814 2263 2139
21432 0.73 221.3 445.2 8.0 874 21437 0.10 2.28 0.00 0.000 4 0.077 0.050 2859 3681 2139
21494 0.56 221.3 438.7 11.3 876 21499 0.25 2.22 0.00 0.000 6 0.132 0.035 2790 2253 2139
21829 0.76 221.3 414.8 6.9 887 21833 0.20 2.20 0.00 0.000 4 0.059 0.046 2879 859 2139
21918 0.62 221.3 406.0 10.5 889 21925 0.22 2.17 0.00 0.000 6 0.126 0.036 2811 2259 2139
22231 0.73 221.3 382.7 7.3 900 22236 0.12 2.28 0.00 0.000 4 0.072 0.051 2866 3671 2139
22298 0.53 221.3 376.0 9.8 902 22303 0.28 2.25 0.00 0.000 6 0.130 0.037 2785 2252 2139
22634 0.79 238.7 354.9 6.2 913 22655 0.20 2.25 15.82 0.973 4 0.060 0.045 2878 851 2072
22736 0.68 238.7 345.1 9.8 916 22741 0.17 2.20 0.00 0.000 6 0.127 0.034 2827 2253 2070
23065 0.77 238.7 317.4 8.5 927 23069 0.00 2.33 0.00 0.000 4 0.000 0.051 2827 3674 2069
23103 0.77 238.7 313.9 8.2 928 23107 0.00 2.28 0.00 0.000 6 0.000 0.035 2827 2236 2069
23431 0.85 238.7 287.2 7.9 941 23435 0.17 2.20 0.00 0.000 4 0.062 0.046 2898 857 2069
23542 0.67 238.7 275.4 10.6 946 23547 0.22 2.17 0.00 0.000 6 0.130 0.035 2831 2252 2069
23863 0.75 238.7 251.1 7.3 962 23864 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2253 2069
24173 0.82 238.7 228.7 7.1 977 24175 0.15 0.00 0.00 0.000 6 0.065 0.000 2893 2252 2069
24493 0.65 238.7 196.4 10.2 993 24498 0.20 2.25 0.00 0.000 4 0.127 0.046 2827 858 2069
24539 0.79 238.7 192.7 9.4 996 24543 0.12 2.17 0.00 0.000 6 0.070 0.037 2884 2244 2069
24865 0.65 238.7 161.8 10.0 1017 24870 0.20 2.35 0.00 0.000 4 0.124 0.048 2817 3688 2069
24911 0.75 238.7 157.4 9.4 1020 24916 0.12 2.28 0.00 0.000 6 0.072 0.033 2870 2233 2069
25250 0.67 238.7 124.5 10.1 1070 25257 0.15 2.17 0.00 0.000 4 0.127 0.042 2826 857 2069
25303 0.81 238.7 119.9 7.8 1079 25310 0.15 2.15 0.00 0.000 6 0.064 0.035 2894 2238 2069
25647 0.66 238.7 80.8 11.5 1140 25655 0.20 0.00 0.00 0.000 6 0.127 0.000 2829 2239 2069
25992 0.78 238.7 52.8 7.9 1201 25998 0.12 0.00 0.00 0.000 6 0.071 0.000 2885 2240 2069
26337 0.66 238.7 16.7 10.1 1262 26343 0.20 0.00 0.00 0.000 6 0.125 0.000 2818 2241 2069
26517 end climb: SURFACE_DEPTH_REACHED
state 26517 begin surface coast
26583 end surface coast: CONTROL_FINISHED_OK
state 26583 begin surface