DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 55 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  113 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 ROLL_MIN  280 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  55 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3944 ALTIM_PING_DEPTH  0
D_SURF  2 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  21 C_ROLL_DIVE  2340 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -158.3 C_ROLL_CLIMB  2520 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  275 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  34 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  28 INT_PRESSURE_YINT  0
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  350 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  470 UPLOAD_DIVES_MAX  -1 VBD_MIN  144 DEVICE2  20
T_MISSION  500 CALL_TRIES  5 VBD_MAX  3700 DEVICE3  -1
T_ABORT  1440 CALL_WAIT  60 C_VBD  2591 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  360 SMARTS  0
USE_BATHY  -3 T_GPS  15 PITCH_VBD_SHIFT  0.00135 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  100 T_GPS_CHARGE  -23050.91 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 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  32
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  171 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  4022 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2436 PRESSURE_YINT  -25.705193 SEABIRD_T_G  0.004371644
RHO  1.02765 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001160825 SEABIRD_T_H  0.00064727472
MASS  51576 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.6231954e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.8174416e-06
FERRY_MAX  45 PITCH_GAIN  14.7 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.9426794
KALMAN_USE  1 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_H  1.1390046
HD_A  0.0031999999 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00057758979
HD_B  0.014 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00012778315
HD_C  3.1312e-05 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  174039,6655.137,-5821.758,37,1.3,38,-37.8 TGT_NAME  TARGET_ADD4_EB
_CALLS  2 TGT_LATLONG  6659.000,-5735.000
_XMS_NAKs  2 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.009,0.185
_SM_DEPTHo  1.46 KALMAN_X  -6519.6,644.0,-351.4,21725.2,-2498.4
_SM_ANGLEo  -67.4 KALMAN_Y  -2408.0,-1935.4,3857.4,4369.9,-5616.9
GPS2  174757,6655.157,-5821.612,13,1.0,13,-37.8 MHEAD_RNG_PITCHd_Wd  131.4,34495,-14.2,-7.021
SPEED_LIMITS  0.122,0.186 D_GRID  955

Post-dive calculations and measurements:
FINISH  0.6,1.018690 XPDR_PINGS  21
SM_CCo  23173,0.00,0.000,0,0,1363,301.47 _24V_AH  21.9,17.159
SM_GC  1.52,7.15,0.00,0.00,0.077,0.000,0.000,158,2330,1363,-10.40,-0.28,301.47 _10V_AH  10.6,5.773
RAFOS_CLK  1289 DATA_FILE_SIZE  40969,1062
RAFOS  0,1221422666,20.083334,20.073889,66,60,58,58,49,48,218,196,162,228,126,142 CAP_FILE_SIZE  165666,0
RAFOS_FIX  6630.974609,-5944.430664,140908,202004,4,67,8.04 CFSIZE  260165632,248156160
IRIDIUM_FIX  6625.71,-5826.42,091297,171700 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS  0.027612 SOUNDSPEED  1459.4
HUMID  1909 CURRENT  0.015,280.9,1
INTERNAL_PRESSURE  8.58431 GPS  150908,001708,6654.761,-5814.065,31,1.0,32,-37.8
TCM_TEMP  16.10

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21265123.21 SBE_CT83824440.82
Roll_motor18978323.95 SBE_O272819303.01
VBD_pump_during_apogee405152313511.41 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init57103129.11 nil000.00
Iridium_during_connect50160177.95 nil000.00
Iridium_during_xfer158223774.38
Transponder_ping542048.29
Mmodem_TX000.00
Mmodem_RX000.00
GPS15508.16
TT8219519463.52
LPSleep183252448.71
TT8_Active62719132.46
TT8_Sampling205239868.55
TT8_CF845745222.67
TT8_Kalman338128.95
Analog_circuits176312224.26
GPS_charging000.00
Compass20318172.28
RAFOS2160134.34
Transponder0300.17

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -1.16 -146.0 0.0 0.0 0 113 0.00 0.00 -94.18 0.000 2 0.000 0.000 163 2329 2867
115 -1.16 -146.0 3.2 -2.8 15 142 8.40 2.38 -10.30 0.000 4 0.265 0.078 2178 3738 3190
255 -0.82 -146.0 31.9 -14.9 39 262 0.28 2.20 0.00 0.000 6 0.170 0.041 2254 2337 3193
599 -0.82 -146.0 67.1 -9.7 100 606 0.00 2.33 0.00 0.000 4 0.000 0.066 2254 3754 3196
611 -0.82 -146.0 68.4 -9.7 102 618 0.00 2.20 0.00 0.000 6 0.000 0.038 2254 2334 3196
954 -0.82 -146.0 98.9 -8.0 163 961 0.00 2.33 0.00 0.000 4 0.000 0.067 2255 3754 3197
982 -0.89 -146.0 101.1 -7.8 167 986 0.00 2.20 0.00 0.000 6 0.000 0.039 2255 2345 3197
1309 -0.96 -146.0 126.6 -7.9 183 1311 0.12 0.00 0.00 0.000 6 0.105 0.000 2211 2345 3197
1618 -0.89 -146.0 155.2 -9.0 198 1622 0.12 2.20 0.00 0.000 4 0.174 0.055 2243 941 3196
1627 -0.84 -146.0 156.1 -8.9 198 1631 0.00 2.22 0.00 0.000 6 0.000 0.049 2243 2340 3196
1948 -0.91 -146.0 181.0 -8.0 214 1952 0.00 2.28 0.00 0.000 4 0.000 0.068 2243 3752 3195
1970 -1.01 -146.0 182.8 -8.0 215 1975 0.10 2.17 0.00 0.000 6 0.110 0.040 2207 2335 3195
2301 -1.01 -146.0 214.8 -9.8 231 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2334 3195
2612 -1.01 -146.0 244.1 -9.5 246 2616 0.00 2.30 0.00 0.000 4 0.000 0.070 2207 3743 3195
2622 -1.01 -146.0 245.3 -9.6 246 2627 0.00 2.17 0.00 0.000 6 0.000 0.040 2207 2344 3195
2943 -1.01 -146.0 275.9 -9.7 262 2944 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2344 3194
3253 -1.01 -146.0 303.5 -8.6 277 3254 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2344 3194
3561 -1.01 -146.0 329.7 -8.3 292 3565 0.00 2.28 0.00 0.000 4 0.000 0.070 2207 3744 3193
3584 -1.01 -146.0 331.6 -8.4 293 3588 0.00 2.15 0.00 0.000 6 0.000 0.041 2207 2340 3193
3916 -1.01 -146.0 358.2 -7.8 309 3917 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2340 3193
4224 -1.01 -146.0 382.0 -7.6 324 4228 0.00 2.28 0.00 0.000 4 0.000 0.068 2207 3743 3193
4256 -1.08 -146.0 384.6 -8.3 325 4261 0.00 2.17 0.00 0.000 6 0.000 0.040 2207 2340 3192
4575 -1.08 -146.0 410.2 -8.0 338 4579 0.00 2.28 0.00 0.000 4 0.000 0.067 2207 3747 3193
4603 -1.14 -146.0 412.4 -8.5 338 4607 0.00 2.15 0.00 0.000 6 0.000 0.040 2207 2335 3193
4944 -1.14 -146.0 438.9 -7.7 347 4948 0.00 2.30 0.00 0.000 4 0.000 0.068 2207 3754 3193
4960 -1.19 -146.0 440.1 -7.6 347 4964 0.08 2.20 0.00 0.000 6 0.104 0.039 2174 2334 3193
5273 -1.13 -146.0 467.9 -8.9 355 5277 0.00 2.28 0.00 0.000 4 0.000 0.068 2173 3743 3193
5300 -1.08 -146.0 470.6 -9.9 355 5305 0.08 2.17 0.00 0.000 6 0.163 0.039 2198 2336 3194
5642 -1.08 -146.0 498.7 -8.1 364 5643 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2336 3194
5966 -1.08 -146.0 525.2 -8.2 372 5968 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2335 3195
6292 -1.08 -146.0 551.4 -8.0 380 6295 0.00 2.17 0.00 0.000 4 0.000 0.053 2197 928 3195
6301 -1.08 -146.0 552.2 -7.9 380 6306 0.00 2.22 0.00 0.000 6 0.000 0.048 2197 2341 3195
6620 -1.08 -146.0 576.8 -7.8 388 6621 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2341 3194
6945 -1.08 -146.0 602.0 -7.8 396 6948 0.00 2.25 0.00 0.000 4 0.000 0.067 2197 3752 3195
6966 -1.13 -146.0 603.9 -8.5 396 6970 0.00 2.17 0.00 0.000 6 0.000 0.039 2197 2341 3194
7314 -1.13 -146.0 630.1 -7.6 405 7318 0.00 2.25 0.00 0.000 4 0.000 0.065 2197 3745 3195
7335 -1.18 -146.0 631.8 -8.3 405 7340 0.00 2.17 0.00 0.000 6 0.000 0.039 2197 2333 3195
7683 -1.18 -146.0 658.6 -7.7 414 7687 0.00 2.28 0.00 0.000 4 0.000 0.066 2197 3750 3195
7693 -1.23 -146.0 659.5 -7.7 414 7698 0.08 2.17 0.00 0.000 6 0.099 0.038 2164 2340 3195
8011 -1.16 -146.0 688.4 -9.1 422 8015 0.00 2.28 0.00 0.000 4 0.000 0.067 2164 3752 3195
8027 -1.09 -146.0 690.0 -9.3 422 8032 0.10 2.17 0.00 0.000 6 0.159 0.039 2195 2341 3195
8340 -1.09 -146.0 715.1 -8.0 430 8344 0.00 2.28 0.00 0.000 4 0.000 0.067 2196 3752 3195
8355 -1.09 -146.0 716.5 -8.0 430 8360 0.00 2.17 0.00 0.000 6 0.000 0.039 2195 2343 3195
8668 -1.09 -146.0 740.6 -7.7 438 8669 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2342 3195
8993 -1.14 -146.0 766.0 -8.0 446 8997 0.00 2.25 0.00 0.000 4 0.000 0.066 2195 3746 3195
9009 -1.19 -146.0 767.3 -7.8 446 9013 0.00 2.17 0.00 0.000 6 0.000 0.039 2195 2340 3195
9325 -1.24 -146.0 790.4 -7.1 454 9329 0.12 2.28 0.00 0.000 4 0.107 0.066 2151 3752 3194
9339 -1.24 -146.0 791.8 -7.1 454 9344 0.00 2.17 0.00 0.000 6 0.000 0.039 2151 2343 3194
9689 -1.14 -146.0 823.3 -9.4 463 9694 0.15 2.28 0.00 0.000 4 0.176 0.066 2189 3756 3194
9698 -1.07 -146.0 824.2 -9.3 463 9703 0.00 2.17 0.00 0.000 6 0.000 0.039 2189 2343 3194
10016 -1.07 -146.0 848.3 -7.5 471 10018 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2343 3194
10342 -1.11 -146.0 872.1 -7.4 479 10343 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2343 3194
10667 -1.16 -146.0 896.8 -7.5 487 10668 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 2343 3194
10992 -1.21 -146.0 923.0 -8.5 495 10993 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2343 3193
11317 -1.26 -146.0 947.1 -7.7 503 11319 0.12 0.00 0.00 0.000 6 0.110 0.000 2148 2342 3193
11437 end dive: TARGET_DEPTH_EXCEEDED
state 11437 begin apogee
11441 -0.34 0.0 957.7 8.4 506 11576 0.70 0.00 131.30 1.523 6 0.163 0.000 2361 2517 2591
11576 end apogee: CONTROL_FINISHED_OK
state 11576 begin climb
11578 1.16 146.0 960.7 0.0 509 11724 1.12 2.65 136.10 1.425 4 0.106 0.067 2692 3924 1995
11803 0.73 146.0 940.9 13.4 514 11808 0.38 2.38 0.00 0.000 6 0.159 0.041 2593 2521 1993
12133 0.75 163.1 918.5 6.4 522 12150 0.00 0.00 15.60 1.357 6 0.000 0.000 2593 2520 1926
12458 0.76 170.6 897.0 6.8 530 12472 0.00 2.35 8.23 1.242 4 0.000 0.054 2593 1118 1895
12511 0.85 191.5 893.1 6.3 531 12536 0.10 2.33 19.38 1.385 6 0.099 0.050 2626 2532 1810
12867 0.77 191.5 862.3 8.8 540 12872 0.10 2.33 0.00 0.000 4 0.150 0.068 2600 3930 1809
12927 0.68 191.5 856.6 9.7 541 12932 0.00 2.28 0.00 0.000 6 0.000 0.041 2601 2518 1808
13275 0.68 191.5 829.4 7.8 550 13276 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2518 1807
13599 0.68 191.5 804.0 7.7 558 13601 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2518 1806
13924 0.68 191.5 779.4 7.7 566 13928 0.00 2.33 0.00 0.000 4 0.000 0.071 2601 3933 1807
13963 0.61 191.5 776.0 9.2 566 13970 0.12 2.20 0.00 0.000 6 0.160 0.041 2567 2513 1806
14294 0.79 225.6 756.3 5.8 575 14326 0.15 0.00 29.30 1.414 6 0.085 0.000 2621 2511 1671
14618 0.79 225.6 729.1 8.5 583 14622 0.00 2.25 0.00 0.000 4 0.000 0.055 2622 1108 1669
14656 0.79 225.6 725.9 8.0 583 14663 0.00 2.30 0.00 0.000 6 0.000 0.049 2622 2521 1669
14987 0.79 225.6 698.5 8.2 592 14991 0.00 2.30 0.00 0.000 4 0.000 0.069 2622 3930 1669
15033 0.68 225.6 694.4 9.2 593 15037 0.15 2.20 0.00 0.000 6 0.155 0.041 2581 2516 1669
15362 0.85 255.6 674.3 6.0 601 15393 0.15 2.30 25.80 1.356 4 0.084 0.054 2637 1119 1548
15459 0.85 255.6 666.4 8.4 603 15464 0.00 2.33 0.00 0.000 6 0.000 0.048 2637 2525 1547
15773 0.85 255.6 640.2 8.5 611 15776 0.00 2.30 0.00 0.000 4 0.000 0.066 2637 3937 1546
15822 0.72 255.6 635.3 10.0 612 15827 0.12 2.25 0.00 0.000 6 0.146 0.041 2596 2521 1546
16146 0.86 281.3 614.9 6.1 620 16176 0.10 2.38 21.98 1.309 4 0.096 0.054 2635 1111 1444
16232 0.86 281.3 608.2 7.9 622 16236 0.00 2.30 0.00 0.000 6 0.000 0.049 2635 2532 1443
16560 0.86 281.3 581.7 8.0 630 16561 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2532 1442
16885 0.86 281.3 555.3 8.3 638 16889 0.00 2.28 0.00 0.000 4 0.000 0.054 2635 1109 1442
16923 0.91 281.3 552.2 7.4 638 16930 0.00 2.25 0.00 0.000 6 0.000 0.048 2635 2528 1441
17254 0.91 281.3 523.3 9.1 647 17255 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2528 1441
17578 0.91 281.3 493.1 9.4 655 17582 0.00 2.25 0.00 0.000 4 0.000 0.054 2635 1109 1442
17628 0.97 281.3 488.7 9.2 656 17632 0.00 2.25 0.00 0.000 6 0.000 0.048 2635 2522 1441
17952 0.97 281.3 459.1 9.2 664 17953 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2522 1442
18276 0.97 281.3 428.6 9.5 672 18280 0.00 2.22 0.00 0.000 4 0.000 0.054 2635 1113 1441
18322 1.02 281.3 424.6 7.9 673 18326 0.08 2.22 0.00 0.000 6 0.111 0.048 2666 2535 1442
18652 0.94 281.3 387.7 11.0 683 18654 0.10 0.00 0.00 0.000 6 0.156 0.000 2640 2536 1442
18960 0.94 281.3 358.9 9.1 698 18965 0.00 2.22 0.00 0.000 4 0.000 0.054 2640 1118 1442
19005 1.01 281.3 354.9 9.2 700 19009 0.00 2.20 0.00 0.000 6 0.000 0.048 2640 2529 1442
19337 1.01 281.3 324.7 8.9 716 19338 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2530 1443
19645 1.01 281.3 297.0 8.6 731 19649 0.00 2.22 0.00 0.000 4 0.000 0.053 2640 1109 1443
19691 1.08 281.3 293.5 8.5 733 19695 0.12 2.20 0.00 0.000 6 0.092 0.048 2688 2522 1443
20022 0.97 281.3 257.9 10.6 749 20027 0.17 2.22 0.00 0.000 4 0.142 0.064 2637 3924 1442
20099 0.92 281.3 250.3 9.8 752 20108 0.00 2.17 0.00 0.000 6 0.000 0.040 2637 2516 1443
20415 0.98 281.3 225.7 7.7 768 20418 0.00 2.17 0.00 0.000 4 0.000 0.054 2637 1111 1444
20475 1.09 281.3 220.9 8.1 770 20482 0.10 2.22 0.00 0.000 6 0.078 0.049 2685 2520 1444
20791 1.02 281.3 189.7 9.9 786 20795 0.12 2.25 0.00 0.000 4 0.150 0.066 2650 3932 1444
20834 0.95 281.3 185.3 10.3 788 20838 0.00 2.15 0.00 0.000 6 0.000 0.040 2650 2520 1444
21160 1.00 281.3 158.0 8.5 804 21164 0.00 2.17 0.00 0.000 4 0.000 0.054 2650 1114 1444
21205 1.09 281.3 154.3 8.0 806 21210 0.08 2.20 0.00 0.000 6 0.111 0.048 2681 2531 1445
21536 1.09 281.3 122.6 9.5 822 21539 0.00 2.22 0.00 0.000 4 0.000 0.067 2681 3929 1445
21574 0.95 281.3 118.4 11.0 823 21581 0.12 2.17 0.00 0.000 6 0.149 0.041 2640 2525 1445
21899 1.06 281.3 93.0 7.6 851 21906 0.10 2.20 0.00 0.000 4 0.099 0.054 2679 1108 1445
21969 1.06 281.3 87.2 8.5 863 21975 0.00 2.20 0.00 0.000 6 0.000 0.049 2679 2523 1446
22312 1.06 281.3 57.4 8.5 924 22319 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2523 1446
22656 1.12 281.3 31.1 7.2 985 22662 0.00 2.20 0.00 0.000 4 0.000 0.055 2678 1119 1445
22703 1.25 290.0 28.0 6.7 993 22717 0.10 2.20 8.85 0.957 6 0.098 0.051 2718 2528 1408
23054 1.27 300.5 2.6 6.7 1055 23068 0.00 2.33 8.50 0.930 4 0.000 0.068 2718 3922 1365
23072 end climb: SURFACE_DEPTH_REACHED
state 23072 begin surface coast
23096 end surface coast: CONTROL_FINISHED_OK
state 23096 begin surface