SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 493 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  493 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1910 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1585 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  15 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  25 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  200 R_STBD_OVSHOOT  31 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  340 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  355 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -5863.0962 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  170 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3049 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  17 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  0 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  472

Pre-dive calculations and measurements:
GPS1  200113,061935,-4243.614,-338.899,28,1.4,28,-22.2 TGT_NAME  ACC_WP1
_CALLS  1 TGT_LATLONG  -4330.000,-230.000
_XMS_NAKs  2 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.203,-0.183
_SM_DEPTHo  2.93 KALMAN_X  -268102.4,104.5,518.7,463472.5,-3631.5
_SM_ANGLEo  -67.8 KALMAN_Y  -90191.8,236.9,113.3,53.5,3283.4
GPS2  200113,063005,-4243.663,-338.839,30,1.4,30,-22.2 MHEAD_RNG_PITCHd_Wd  154.3,126161,-16.8,-9.804
SPEED_LIMITS  0.170,0.273 D_GRID  1000

Post-dive calculations and measurements:
FINISH  2.2,1.012535 _10V_AH  9.8,65.191
SM_CCo  20451,0.00,0.000,0,0,822,500.40 FG_AHR_24Vo  0.000
SM_GC  2.98,8.80,0.00,0.00,0.039,0.000,0.000,86,1916,822,-9.17,0.17,500.40 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4227.40,-316.31,200113,000013 MEM  354580
TT8_MAMPS  0.026964 DATA_FILE_SIZE  56998,955
HUMID  47.99 CAP_FILE_SIZE  167434,0
INTERNAL_PRESSURE  9.07928 CFSIZE  2097086464,2029256704
TCM_TEMP  16.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS  0 GPS  200113,121305,-4244.030,-338.520,38,0.9,38,-22.2
_24V_AH  22.2,85.054

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22237119.64 SBE_CT64224342.17
Roll_motor587091.40 WL_BB2FLVMT8991052095.60
VBD_pump_during_apogee595124816491.17 SBE_O265019274.20
VBD_pump_during_surface000.00 QSP21507647.42
VBD_valve000.00 nil000.00
Iridium_during_init4210396.30 nil000.00
Iridium_during_connect36160128.31 nil000.00
Iridium_during_xfer3922231943.21 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS32268.57
TT8244214358.12
LPSleep145892313.12
TT8_Active6651492.65
TT8_Sampling3127371147.32
TT8_CF825047115.71
TT8_Kalman335919.35
Analog_circuits186912219.81
GPS_charging000.00
Compass260915402.22
RAFOS000.00
Transponder150.05

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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
25 -1.00 -165.4 0.0 0.0 0 52 0.00 0.00 -24.92 0.000 2 0.000 0.000 81 1913 995 0 0 0 0 0 0
55 -1.00 -165.4 3.0 -0.7 4 189 10.60 2.38 -113.80 0.000 4 0.217 0.070 2722 500 3538 0 0 0 0 0 0
363 -0.97 -165.4 24.4 -11.3 55 371 0.05 2.28 0.00 0.000 6 0.155 0.047 2729 1907 3540 0 0 0 0 0 0
442 -0.99 -165.4 33.4 -11.0 68 448 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1907 3540 0 0 0 0 0 0
679 -1.02 -165.4 59.4 -10.6 109 684 0.00 1.48 0.00 0.000 4 0.000 0.054 2729 1004 3540 0 0 0 0 0 0
851 -1.05 -165.4 78.2 -11.0 125 855 0.00 1.45 0.00 0.000 6 0.000 0.047 2723 1908 3540 0 0 0 0 0 0
1176 -1.07 -165.4 111.6 -10.5 152 1180 0.05 0.77 0.00 0.000 4 0.161 0.058 2677 2403 3540 0 0 0 0 0 0
1263 -1.04 -165.4 121.4 -11.0 157 1267 0.10 0.77 0.00 0.000 6 0.131 0.052 2711 1905 3540 0 0 0 0 0 0
1595 -1.07 -165.4 158.2 -10.9 178 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 1905 3541 0 0 0 0 0 0
1904 -1.07 -165.4 190.4 -10.1 198 1908 0.00 1.58 0.00 0.000 4 0.000 0.058 2704 2882 3541 0 0 0 0 0 0
1992 -1.10 -165.4 198.6 -9.7 203 1996 0.00 1.55 0.00 0.000 6 0.000 0.047 2704 1905 3541 0 0 0 0 0 0
2319 -1.10 -165.4 231.9 -10.4 219 2323 0.00 0.75 0.00 0.000 4 0.000 0.057 2701 2384 3541 0 0 0 0 0 0
2442 -1.10 -165.4 245.1 -10.9 224 2446 0.00 0.77 0.00 0.000 6 0.000 0.050 2701 1895 3541 0 0 0 0 0 0
2764 -1.10 -165.4 279.8 -10.9 240 2768 0.00 0.85 0.00 0.000 4 0.000 0.055 2697 2445 3541 0 0 0 0 0 0
2900 -1.10 -165.4 294.1 -10.9 246 2903 0.00 0.82 0.00 0.000 6 0.000 0.050 2697 1913 3541 0 0 0 0 0 0
3240 -1.10 -165.4 326.2 -9.0 258 3244 0.00 1.12 0.00 0.000 4 0.000 0.057 2692 2620 3541 0 0 0 0 0 0
3324 -1.10 -165.4 334.0 -8.6 260 3328 0.00 1.12 0.00 0.000 6 0.000 0.048 2692 1904 3541 0 0 0 0 0 0
3648 -1.10 -165.4 361.3 -8.3 271 3652 0.00 1.02 0.00 0.000 4 0.000 0.057 2688 2549 3541 0 0 0 0 0 0
3754 -1.10 -165.4 370.0 -7.8 274 3758 0.00 1.00 0.00 0.000 6 0.000 0.049 2687 1914 3541 0 0 0 0 0 0
4090 -1.10 -165.4 397.3 -8.3 285 4093 0.00 1.05 0.00 0.000 4 0.000 0.057 2683 2571 3540 0 0 0 0 0 0
4192 -1.10 -165.4 406.1 -8.7 288 4195 0.00 1.05 0.00 0.000 6 0.000 0.049 2683 1906 3540 0 0 0 0 0 0
4533 -1.10 -165.4 436.9 -9.4 299 4536 0.00 0.43 0.00 0.000 4 0.000 0.060 2683 1618 3539 0 0 0 0 0 0
4594 -1.10 -165.4 443.1 -9.5 300 4599 0.00 0.47 0.00 0.000 6 0.000 0.055 2681 1920 3540 0 0 0 0 0 0
4907 -1.10 -165.4 474.0 -10.0 311 4908 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 1920 3539 0 0 0 0 0 0
5213 -1.10 -165.4 505.8 -10.5 321 5217 0.05 0.98 0.00 0.000 4 0.237 0.057 2692 1314 3539 0 0 0 0 0 0
5323 -1.10 -165.4 517.6 -10.0 324 5328 0.00 0.93 0.00 0.000 6 0.000 0.050 2688 1905 3539 0 0 0 0 0 0
5653 -1.10 -165.4 551.2 -10.1 335 5656 0.00 0.62 0.00 0.000 4 0.000 0.057 2688 1502 3538 0 0 0 0 0 0
5721 -1.10 -165.4 558.1 -10.7 337 5724 0.00 0.62 0.00 0.000 6 0.000 0.053 2684 1910 3538 0 0 0 0 0 0
6061 -1.10 -165.4 593.1 -10.3 348 6065 0.00 0.68 0.00 0.000 4 0.000 0.054 2685 1473 3537 0 0 0 0 0 0
6111 -1.10 -165.4 598.3 -10.3 349 6115 0.00 0.70 0.00 0.000 6 0.000 0.053 2682 1913 3537 0 0 0 0 0 0
6435 -1.10 -165.4 631.2 -10.4 360 6439 0.00 0.98 0.00 0.000 4 0.000 0.057 2678 2528 3536 0 0 0 0 0 0
6540 -1.10 -165.4 642.2 -10.0 363 6545 0.03 0.98 0.00 0.000 6 0.172 0.050 2688 1913 3536 0 0 0 0 0 0
6876 -1.10 -165.4 674.8 -9.6 374 6877 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1913 3535 0 0 0 0 0 0
7182 -1.10 -165.4 703.3 -9.2 384 7183 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1913 3535 0 0 0 0 0 0
7488 -1.10 -165.4 730.7 -8.8 394 7489 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1913 3534 0 0 0 0 0 0
7794 -1.10 -165.4 757.1 -8.7 404 7798 0.00 0.38 0.00 0.000 4 0.000 0.063 2687 2166 3533 0 0 0 0 0 0
7900 -1.10 -165.4 766.8 -9.2 407 7904 0.00 0.40 0.00 0.000 6 0.000 0.060 2687 1910 3533 0 0 0 0 0 0
8235 -1.10 -165.4 799.8 -10.3 418 8239 0.00 0.80 0.00 0.000 4 0.000 0.060 2683 2415 3532 0 0 0 0 0 0
8318 -1.10 -165.4 809.0 -10.8 420 8323 0.00 0.82 0.00 0.000 6 0.000 0.053 2683 1901 3532 0 0 0 0 0 0
8643 -1.10 -165.4 845.8 -11.7 431 8646 0.00 0.47 0.00 0.000 4 0.000 0.061 2681 2215 3531 0 0 0 0 0 0
8692 -1.10 -165.4 851.9 -11.8 432 8696 0.00 0.47 0.00 0.000 6 0.000 0.058 2681 1908 3531 0 0 0 0 0 0
9017 -1.10 -165.4 889.5 -11.5 443 9020 0.00 0.68 0.00 0.000 4 0.000 0.060 2678 2337 3531 0 0 0 0 0 0
9156 -1.10 -165.4 906.1 -11.5 447 9161 0.05 0.68 0.00 0.000 6 0.210 0.054 2692 1914 3531 0 0 0 0 0 0
9492 -1.13 -165.4 942.8 -10.8 458 9495 0.00 1.00 0.00 0.000 4 0.000 0.060 2688 2530 3530 0 0 0 0 0 0
9615 -1.16 -165.4 955.5 -11.0 461 9618 0.00 1.00 0.00 0.000 6 0.000 0.053 2688 1907 3530 0 0 0 0 0 0
9933 -1.19 -165.4 986.0 -9.4 472 9938 0.08 1.23 0.00 0.000 4 0.124 0.062 2632 2642 3529 0 0 0 0 0 0
10023 -1.13 -165.4 994.6 -9.8 474 10027 0.15 1.17 0.00 0.000 6 0.132 0.053 2681 1910 3528 0 0 0 0 0 0
10094 end dive: TARGET_DEPTH_EXCEEDED
state 10094 begin apogee
10100 -0.29 0.0 1000.9 8.7 477 10247 0.85 0.00 143.57 1.248 6 0.115 0.000 2954 1581 2862 0 0 0 0 0 0
10248 end apogee: CONTROL_FINISHED_OK
state 10248 begin climb
10250 1.00 165.4 1010.9 0.0 482 10410 1.17 1.25 151.05 1.216 4 0.059 0.051 3370 2274 2186 0 0 0 0 0 0
10512 0.82 252.6 1009.1 6.3 490 10599 0.20 1.15 79.12 1.202 6 0.155 0.050 3319 1584 1833 0 0 0 0 0 0
10935 0.77 320.8 978.6 7.1 504 11000 0.08 0.00 62.08 1.199 6 0.196 0.000 3301 1584 1554 0 0 0 0 0 0
11301 0.80 388.3 951.7 7.1 516 11366 0.00 0.00 62.45 1.193 6 0.000 0.000 3300 1584 1278 0 0 0 0 0 0
11667 0.88 445.1 924.4 7.5 528 11726 0.10 0.00 53.45 1.179 6 0.097 0.000 3352 1584 1046 0 0 0 0 0 0
12034 0.94 474.6 893.2 8.6 540 12064 0.00 0.00 27.98 1.144 6 0.000 0.000 3352 1584 927 0 0 0 0 0 0
12370 1.02 474.6 861.2 9.8 551 12374 0.08 0.50 0.00 0.000 4 0.120 0.069 3399 1280 920 0 0 0 0 0 0
12463 1.02 474.6 851.1 10.5 553 12470 0.08 0.50 0.00 0.000 6 0.174 0.056 3381 1588 920 0 0 0 0 0 0
12777 1.05 474.6 818.9 10.3 564 12781 0.00 0.68 0.00 0.000 4 0.000 0.064 3384 1173 918 0 0 0 0 0 0
12845 1.08 474.6 812.0 9.8 566 12849 0.00 0.65 0.00 0.000 6 0.000 0.053 3384 1585 918 0 0 0 0 0 0
13186 1.10 474.6 777.8 9.9 577 13188 0.05 0.00 0.00 0.000 6 0.168 0.000 3421 1585 917 0 0 0 0 0 0
13492 1.07 474.6 744.5 11.1 587 13497 0.10 0.90 0.00 0.000 4 0.168 0.064 3400 1038 917 0 0 0 0 0 0
13547 1.07 474.6 738.4 9.8 588 13551 0.00 0.88 0.00 0.000 6 0.000 0.050 3399 1583 916 0 0 0 0 0 0
13865 1.07 474.6 702.9 11.3 599 13869 0.00 0.60 0.00 0.000 4 0.000 0.056 3399 1979 916 0 0 0 0 0 0
13915 1.07 474.6 697.0 11.1 600 13919 0.00 0.65 0.00 0.000 6 0.000 0.061 3402 1583 916 0 0 0 0 0 0
14239 1.07 474.6 657.8 12.5 611 14240 0.00 0.00 0.00 0.000 6 0.000 0.000 3402 1583 915 0 0 0 0 0 0
14545 1.07 474.6 620.8 11.8 621 14549 0.00 0.52 0.00 0.000 4 0.000 0.057 3402 1923 915 0 0 0 0 0 0
14567 1.03 474.6 618.1 11.4 621 14571 0.05 0.55 0.00 0.000 6 0.164 0.062 3387 1579 915 0 0 0 0 0 0
14885 1.03 474.6 582.5 10.9 632 14886 0.00 0.00 0.00 0.000 6 0.000 0.000 3387 1579 915 0 0 0 0 0 0
15192 1.03 474.6 550.2 10.3 642 15193 0.00 0.00 0.00 0.000 6 0.000 0.000 3387 1579 915 0 0 0 0 0 0
15498 1.03 474.6 517.8 10.6 652 15499 0.00 0.00 0.00 0.000 6 0.000 0.000 3387 1578 915 0 0 0 0 0 0
15805 1.05 474.6 484.9 10.9 662 15806 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1579 915 0 0 0 0 0 0
16110 1.05 474.6 451.7 11.0 672 16111 0.00 0.00 0.00 0.000 6 0.000 0.000 3387 1579 914 0 0 0 0 0 0
16417 1.08 474.6 418.5 10.7 682 16420 0.00 1.05 0.00 0.000 4 0.000 0.054 3387 2244 915 0 0 0 0 0 0
16472 1.08 474.6 412.3 10.5 683 16476 0.00 1.05 0.00 0.000 6 0.000 0.057 3392 1587 915 0 0 0 0 0 0
16791 1.08 474.6 379.0 10.2 694 16794 0.00 0.60 0.00 0.000 4 0.000 0.057 3392 1975 915 0 0 0 0 0 0
16859 1.08 482.2 372.2 9.5 696 16869 0.00 0.62 6.40 0.708 6 0.000 0.062 3394 1583 895 0 0 0 0 0 0
17193 1.08 482.2 339.2 9.9 707 17194 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 1583 895 0 0 0 0 0 0
17499 1.08 482.2 308.9 9.9 717 17500 0.00 0.00 0.00 0.000 6 0.000 0.000 3394 1583 895 0 0 0 0 0 0
17819 1.08 482.2 275.3 10.6 731 17823 0.00 0.98 0.00 0.000 4 0.000 0.054 3394 2209 895 0 0 0 0 0 0
17891 1.08 482.2 267.2 10.3 734 17895 0.00 1.00 0.00 0.000 6 0.000 0.055 3399 1581 895 0 0 0 0 0 0
18219 1.08 482.2 229.9 11.6 750 18220 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 1581 895 0 0 0 0 0 0
18534 1.08 482.2 193.4 11.7 766 18537 0.00 1.15 0.00 0.000 4 0.000 0.054 3399 2307 895 0 0 0 0 0 0
18603 1.08 482.2 185.4 11.2 770 18606 0.00 1.15 0.00 0.000 6 0.000 0.055 3404 1593 895 0 0 0 0 0 0
18935 1.08 482.2 149.2 10.6 791 18936 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1593 895 0 0 0 0 0 0
19247 1.08 482.2 116.4 10.9 811 19248 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1593 895 0 0 0 0 0 0
19564 1.08 482.2 83.0 10.4 836 19565 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1593 895 0 0 0 0 0 0
19893 1.08 482.2 48.9 10.2 875 19898 0.00 0.82 0.00 0.000 4 0.000 0.054 3404 2121 895 0 0 0 0 0 0
19979 1.08 482.2 39.4 10.9 890 19987 0.03 0.85 0.00 0.000 6 0.187 0.055 3398 1582 895 0 0 0 0 0 0
20223 1.08 482.2 14.1 10.1 931 20230 0.00 0.50 0.00 0.000 4 0.000 0.054 3398 1911 895 0 0 0 0 0 0
20316 1.08 498.5 4.8 9.2 946 20329 0.00 0.52 8.90 0.487 6 0.000 0.058 3400 1577 828 0 0 0 0 0 0
20336 end climb: SURFACE_DEPTH_REACHED
state 20336 begin surface coast
20373 end surface coast: CONTROL_FINISHED_OK
state 20373 begin surface