NISKINE May18 * SG124 * Dive index * Mission links * Dive 757 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  124 FIX_MISSING_TIMEOUT  0 ROLL_AD_RATE  250 XPDR_VALID  5
MISSION  26 TGT_DEFAULT_LAT  47.599998 ROLL_MAXERRORS  1 XPDR_INHIBIT  90
DIVE  757 TGT_DEFAULT_LON  -122.3 ROLL_ADJ_GAIN  0 INT_PRESSURE_SLOPE  0.0097660003
N_DIVES  0 TGT_AUTO_DEFAULT  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_YINT  0
STOP_T  0 SM_CC  350 VBD_MIN  550 DEEPGLIDER  0
D_SURF  3 N_FILEKB  8 VBD_MAX  3990 MOTHERBOARD  4
D_FLARE  3 FILEMGR  0 C_VBD  2600 DEVICE1  -1
D_TGT  500 CALL_NDIVES  1 VBD_DBAND  2 DEVICE2  -1
D_ABORT  1030 COMM_SEQ  0 VBD_CNV  -0.24529999 DEVICE3  -1
D_NO_BLEED  50 PROTOCOL  9 VBD_LP_IGNORE  0 DEVICE4  -1
D_BOOST  2.5 N_NOCOMM  2 VBD_TIMEOUT  720 DEVICE5  -1
T_BOOST  0 NOCOMM_ACTION  163 PITCH_VBD_SHIFT  0.0014 DEVICE6  -1
D_FINISH  0 N_NOSURFACE  0 VBD_PUMP_AD_RATE_SURFACE  1 LOGGERS  0
D_PITCH  0 UPLOAD_DIVES_MAX  -1 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERDEVICE1  53
D_SAFE  0 CALL_TRIES  5 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  71
D_CALL  0 CALL_WAIT  60 UNCOM_BLEED  50 LOGGERDEVICE3  134
SURFACE_URGENCY  0 CAPUPLOAD  0 VBD_MAXERRORS  1 LOGGERDEVICE4  -1
SURFACE_URGENCY_TRY  0 CAPMAXSIZE  100000 W_ADJ_DBAND  0 COMPASS_DEVICE  97
SURFACE_URGENCY_FORCE  0 HEAPDBG  0 DBDW  0 COMPASS2_DEVICE  149
T_DIVE  180 T_GPS  5 LOITER_W_DBAND  2 PHONE_DEVICE  49
T_MISSION  460 N_GPS  100440 LOITER_DBDW  400 GPS_DEVICE  32
T_ABORT  1440 T_RSLEEP  2 LOITER_D_TOP  400 RAFOS_DEVICE  -1
T_TURN  225 STROBE  0 LOITER_D_BOTTOM  600 XPDR_DEVICE  24
T_TURN_SAMPINT  -5 RAFOS_PEAK_OFFSET  1.5 LOITER_N_DIVE  1 SIM_W  0
T_NO_W  120 RAFOS_CORR_THRESH  60 PITCH_W_GAIN  0 SEABIRD_T_G  0.0043545738
T_LOITER  14400 RAFOS_HIT_WINDOW  3600 PITCH_W_DBAND  0 SEABIRD_T_H  0.00062548259
T_EPIRB  0 RAFOS_MMODEM  0 CF8_MAXERRORS  0 SEABIRD_T_I  2.3693661e-05
USE_BATHY  0 PITCH_MIN  75 AH0_24V  0 SEABIRD_T_J  2.5207949e-06
USE_ICE  0 PITCH_MAX  100 AH0_10V  350 SEABIRD_C_G  -9.9945526
ICE_FREEZE_MARGIN  0.30000001 C_PITCH  2130 MINV_24V  11 SEABIRD_C_H  1.1183146
D_OFFGRID  1000 PITCH_DBAND  0.1 MINV_10V  11 SEABIRD_C_I  -0.0026370776
T_WATCHDOG  10 PITCH_CNV  0.0046000001 MAXI_24V  0.60000002 SEABIRD_C_J  0.00028069684
RELAUNCH  1 P_OVSHOOT  0.039999999 MAXI_10V  1.5 SC_RECORDABOVE  2000.0
APOGEE_PITCH  -5 P_OVSHOOT_WITHG  0 FG_AHR_10V  0 SC_PROFILE  3.0
MAX_BUOY  75 PITCH_GAIN  40 FG_AHR_24V  0 SC_XMITPROFILE  3.0
COURSE_BIAS  0 PITCH_TIMEOUT  20 PHONE_SUPPLY  -2 SC_NDIVE  1.0
GLIDE_SLOPE  30 PITCH_AD_RATE  135 PRESSURE_YINT  -165.43451 TM_RECORDABOVE  2000.0
SPEED_FACTOR  1 PITCH_MAXERRORS  1 PRESSURE_SLOPE  0.00010836 TM_PROFILE  3.0
RHO  1.0275 PITCH_ADJ_GAIN  0 AD7714Ch0Gain  1 TM_XMITPROFILE  3.0
MASS  55793 PITCH_ADJ_DBAND  0 COMPASS_USE  4 TM_NDIVE  1.0
MASS_COMP  0 ROLL_MIN  1700 ALTIM_PING_FIT  0 TM_LOGSAMPLE  0.0
NAV_MODE  2 ROLL_MAX  1800 ALTIM_TOP_PING_RANGE  0 TM_XMITRAW  0.0
FERRY_MAX  40 ROLL_DEG  15 ALTIM_BOTTOM_TURN_MARGIN  0 CP_RECORDABOVE  2000.0
KALMAN_USE  2 C_ROLL_DIVE  1750 ALTIM_TOP_TURN_MARGIN  0 CP_PROFILE  2.0
HD_A  0.003 C_ROLL_CLIMB  1750 ALTIM_TOP_MIN_OBSTACLE  0 CP_XMITPROFILE  2.0
HD_B  0.0099999998 HEAD_ERRBAND  170 ALTIM_PING_DEPTH  0 CP_UPLOADMAX  100000.0
HD_C  1.6100001e-05 ROLL_CNV  0.028270001 ALTIM_PING_DELTA  10 CP_STARTS  785.0
HEADING  -1 ROLL_TIMEOUT  15 ALTIM_FREQUENCY  13 CP_NDIVE  1.0
ESCAPE_HEADING  0 R_PORT_OVSHOOT  46 ALTIM_PULSE  4
ESCAPE_HEADING_DELTA  10 R_STBD_OVSHOOT  52 ALTIM_SENSITIVITY  4

Pre-dive calculations and measurements:
GPS1  190119,072304,6054.1279,-2759.2017,104,0.9,104,-19.1,0.0,0.0,9,6.9 SPEED_LIMITS  0.160,0.182
_CALLS  1 TGT_NAME  ICELAND
_XMS_NAKs  0 TGT_LATLONG  6300.000,-2230.000
_XMS_TOUTs  0 TGT_RADIUS  2000.000
_SM_DEPTHo  1.10 MHEAD_RNG_PITCHd_Wd  102.1,361819,-23.8,-9.259,-26.95,1201
_SM_ANGLEo  -69.1 D_GRID  500
GPS2  190119,072733,6054.1436,-2759.1406,10,2.0,14,-19.1,0.5,54.6,9,5.0

Post-dive calculations and measurements:
SM_CCo  17856,213.05,0.894,0,0,1173,350.04 FG_AHR_24Vo  0.000
SM_GC  1.15,0.22,0.00,213.05,0.086,0.000,0.894,35,1735,1173,-9.42,-0.42,350.04,0,0,0,0,0,0,13.40,13.92,12.30 FG_AHR_10Vo  0.000
IRIDIUM_FIX  6054.26,-2800.97,190119,021613 MEM  333924
TT8_MAMPS  0.020972,0.06741 DATA_FILE_SIZE  16767,521
HUMID  43.69 CAP_FILE_SIZE  93454,0
INTERNAL_PRESSURE  7.92999 CFSIZE  260165632,165285888
TCM_TEMP  18.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.063,127.82,1
_24V_AH  11.57,0.000 GPS  190119,123103,6053.804,-2758.133,40,1.5,45,-19.1,0.7,146.0,5,7.2
_10V_AH  12.51,250.829

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor823723.67 nil000.00
Roll_motor0202619.93 nil000.00
VBD_pump_during_apogee13115212320.30 nil000.00
VBD_pump_during_surface2138932202.52 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon000.00
Iridium_during_xfer153141251.31 TMICL000.00
Transponder_ping04200.00 NCP000.00
GUMSTIX_24V000.00
GPS25206.34
TT8536858.17
LPSleep161542442.57
TT8_Active462850.21
TT8_Sampling92226307.64
TT8_CF828531111.05
TT8_Kalman000.00
Analog_circuits104710141.52
GPS_charging000.00
Compass755663.67
RAFOS000.00
Transponder050.03

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
4 end surface: CONTROL_FINISHED_OK
state 4 begin dive
9 -0.70 -73.0 112 1802 1319 1012 0.0 0.0 0 99 0.00 0.03 -87.43 0.006 16390 0.000 2.026 112 1784 2898 2855 2941 0 0 0 0 0 0 13.47 11.57 13.40
104 -0.70 -73.0 112 1776 2855 2941 1.8 -1.0 4 108 0.05 0.00 0.00 0.000 4102 0.238 0.000 70 1776 2898 2855 2941 0 0 0 0 0 0 13.23 13.28 13.25
450 -0.70 -73.0 70 1776 2856 2938 115.0 -35.6 21 455 0.12 0.17 0.00 0.000 2564 0.122 0.050 143 1666 2897 2857 2938 0 0 0 0 0 0 13.32 13.13 13.32
473 -0.70 -73.0 144 1667 2857 2938 123.3 -37.8 25 477 0.12 0.12 0.00 0.000 5126 0.063 0.100 70 1741 2897 2857 2938 0 0 0 0 0 0 13.12 13.35 13.18
815 -0.70 -73.0 70 1741 2858 2937 248.3 -34.8 37 819 0.12 0.05 0.00 0.000 2308 0.123 0.079 143 1793 2897 2858 2937 0 0 0 0 0 0 13.36 13.12 13.35
1048 -0.70 -73.0 142 1792 2858 2937 323.6 -30.9 83 1052 0.12 0.12 0.00 0.000 5126 0.064 0.106 69 1714 2897 2858 2937 0 0 0 0 0 0 13.16 13.39 13.19
1380 -0.70 -73.0 69 1714 2858 2937 426.0 -30.9 93 1385 0.12 0.15 0.00 0.000 2308 0.122 0.050 142 1803 2897 2858 2937 0 0 0 0 0 0 13.40 13.17 13.39
1398 -0.70 -73.0 142 1803 2858 2937 431.2 -30.2 96 1402 0.12 0.10 0.00 0.000 5126 0.063 0.120 68 1736 2897 2858 2937 0 0 0 0 0 0 13.19 13.45 13.22
1621 end dive: TARGET_DEPTH_EXCEEDED
state 1621 begin apogee
1630 -0.12 0.0 68 1736 2858 2936 500.6 -30.7 106 1697 0.12 0.00 64.55 1.522 10246 0.123 0.000 135 1736 2599 2637 2562 0 0 0 0 0 0 13.38 13.05 12.25
1698 end apogee: CONTROL_FINISHED_OK
state 1698 begin loiter
1987 -0.12 0.0 135 1736 2636 2568 517.3 5.6 115 1989 0.15 0.00 0.00 0.000 4102 0.108 0.000 60 1736 2602 2636 2568 0 0 0 0 0 0 13.20 13.25 13.24
2305 -0.12 0.0 60 1736 2636 2568 495.9 6.2 123 2307 0.15 0.00 0.00 0.000 2054 0.110 0.000 136 1736 2602 2636 2568 0 0 0 0 0 0 13.33 13.35 13.34
2625 -0.12 0.0 136 1736 2636 2568 479.0 5.0 131 2627 0.15 0.00 0.00 0.000 4102 0.110 0.000 61 1737 2602 2636 2568 0 0 0 0 0 0 13.36 13.38 13.37
2945 -0.12 0.0 61 1736 2636 2568 465.6 4.0 139 2947 0.12 0.00 0.00 0.000 2054 0.122 0.000 134 1736 2602 2636 2568 0 0 0 0 0 0 13.40 13.41 13.41
3265 -0.12 0.0 133 1736 2636 2568 453.6 3.6 147 3267 0.12 0.00 0.00 0.000 4102 0.123 0.000 68 1736 2602 2636 2568 0 0 0 0 0 0 13.43 13.44 13.44
3585 -0.12 0.0 68 1736 2636 2568 444.6 2.5 155 3587 0.12 0.00 0.00 0.000 2054 0.125 0.000 134 1736 2602 2636 2568 0 0 0 0 0 0 13.44 13.45 13.45
3905 -0.12 0.0 134 1736 2636 2568 439.2 1.5 163 3907 0.15 0.00 0.00 0.000 4102 0.111 0.000 58 1736 2602 2636 2568 0 0 0 0 0 0 13.42 13.45 13.43
4227 -0.12 0.0 58 1736 2636 2568 434.9 1.3 171 4228 0.15 0.00 0.00 0.000 2054 0.109 0.000 135 1736 2602 2636 2568 0 0 0 0 0 0 13.43 13.45 13.44
4545 -0.12 0.0 134 1736 2636 2568 431.2 1.1 179 4547 0.15 0.00 0.00 0.000 4102 0.109 0.000 59 1736 2602 2636 2568 0 0 0 0 0 0 13.43 13.45 13.45
4865 -0.12 0.0 59 1736 2636 2568 428.0 1.0 187 4867 0.15 0.00 0.00 0.000 2054 0.109 0.000 136 1736 2601 2635 2568 0 0 0 0 0 0 13.45 13.47 13.45
5185 -0.12 0.0 136 1736 2636 2568 424.0 1.4 195 5187 0.15 0.00 0.00 0.000 4102 0.108 0.000 59 1736 2602 2636 2568 0 0 0 0 0 0 13.45 13.47 13.46
5505 -0.12 0.0 59 1736 2636 2568 419.0 1.6 203 5507 0.15 0.00 0.00 0.000 2054 0.109 0.000 136 1736 2602 2636 2568 0 0 0 0 0 0 13.46 13.48 13.51
5825 -0.12 0.0 136 1736 2636 2568 415.0 1.1 211 5827 0.15 0.00 0.00 0.000 4102 0.110 0.000 60 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.48 13.47
6145 -0.12 0.0 60 1736 2636 2568 412.3 0.8 219 6147 0.12 0.00 0.00 0.000 2054 0.124 0.000 133 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.50 13.49
6466 -0.12 0.0 133 1736 2636 2568 411.1 0.2 227 6468 0.15 0.00 0.00 0.000 4102 0.109 0.000 57 1736 2602 2636 2568 0 0 0 0 0 0 13.46 13.48 13.45
6785 -0.12 0.0 56 1736 2636 2568 411.7 -0.3 235 6787 0.15 0.00 0.00 0.000 2054 0.109 0.000 134 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.49 13.49
7105 -0.12 0.0 134 1736 2636 2568 413.0 -0.4 243 7107 0.15 0.00 0.00 0.000 4102 0.111 0.000 57 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.50 13.48
7425 -0.12 0.0 57 1736 2636 2567 413.4 -0.1 251 7427 0.17 0.00 0.00 0.000 2054 0.100 0.000 142 1736 2602 2636 2568 0 0 0 0 0 0 13.45 13.48 13.47
7745 -0.12 0.0 142 1736 2636 2568 412.6 0.4 259 7747 0.15 0.00 0.00 0.000 4102 0.108 0.000 66 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.50
8065 -0.12 0.0 66 1736 2636 2568 410.2 0.8 267 8067 0.12 0.00 0.00 0.000 2054 0.123 0.000 133 1736 2602 2636 2568 0 0 0 0 0 0 13.53 13.52 13.52
8385 -0.12 0.0 133 1736 2636 2568 407.1 1.0 275 8387 0.15 0.00 0.00 0.000 4102 0.110 0.000 57 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.49
8707 -0.12 0.0 57 1736 2636 2568 403.9 1.0 283 8708 0.15 0.00 0.00 0.000 2054 0.109 0.000 134 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.50 13.50
9025 -0.12 0.0 134 1736 2636 2568 400.5 1.1 291 9027 0.15 0.00 0.00 0.000 4102 0.110 0.000 57 1736 2602 2636 2568 0 0 0 0 0 0 13.46 13.50 13.50
9345 -0.13 -4.1 56 1736 2636 2568 397.2 1.1 299 9347 0.15 0.00 0.00 0.000 2086 0.111 0.000 134 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.48
9665 -0.14 -8.7 134 1736 2636 2568 393.6 1.2 307 9667 0.15 0.00 0.00 0.000 4134 0.109 0.000 57 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.50 13.49
9986 -0.14 -14.0 57 1736 2636 2568 389.4 1.4 315 9988 0.15 0.00 0.00 0.000 2086 0.109 0.000 135 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.50 13.50
10305 -0.15 -17.6 134 1736 2636 2568 385.8 0.9 323 10307 0.15 0.00 0.00 0.000 4134 0.110 0.000 58 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.50 13.50
10625 -0.15 -18.0 58 1736 2636 2568 384.9 0.1 331 10627 0.15 0.00 0.00 0.000 2086 0.110 0.000 136 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.50
10947 -0.15 -18.0 136 1736 2636 2568 385.8 -0.4 339 10949 0.15 0.00 0.00 0.000 4102 0.109 0.000 59 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.50 13.49
11265 -0.15 -18.0 59 1736 2636 2568 386.6 -0.1 347 11267 0.15 0.00 0.00 0.000 2054 0.110 0.000 137 1736 2602 2636 2568 0 0 0 0 0 0 13.49 13.51 13.50
11585 -0.15 -19.1 137 1736 2636 2568 386.0 0.3 355 11587 0.15 0.00 0.00 0.000 4134 0.110 0.000 61 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.50
11905 -0.15 -19.1 61 1736 2636 2568 387.2 -0.5 363 11907 0.15 0.00 0.00 0.000 2054 0.111 0.000 136 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.51 13.50
12225 -0.15 -19.1 137 1736 2636 2568 390.4 -1.2 371 12227 0.15 0.00 0.00 0.000 4102 0.110 0.000 60 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.50
12545 -0.15 -19.1 60 1736 2636 2568 394.5 -1.3 379 12547 0.15 0.00 0.00 0.000 2054 0.112 0.000 137 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.50
12865 -0.15 -19.1 137 1736 2636 2568 397.4 -0.7 387 12867 0.15 0.00 0.00 0.000 4102 0.111 0.000 61 1736 2602 2636 2568 0 0 0 0 0 0 13.47 13.48 13.49
13187 -0.15 -19.5 61 1736 2636 2568 397.6 0.1 395 13189 0.15 0.00 0.00 0.000 2086 0.109 0.000 138 1736 2602 2636 2568 0 0 0 0 0 0 13.45 13.50 13.49
13505 -0.15 -21.3 137 1736 2635 2568 396.2 0.5 403 13507 0.15 0.00 0.00 0.000 4134 0.111 0.000 62 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.50
13826 -0.16 -23.4 62 1736 2636 2568 394.6 0.5 411 13828 0.15 0.00 0.00 0.000 2086 0.109 0.000 139 1736 2601 2635 2568 0 0 0 0 0 0 13.48 13.50 13.50
14145 -0.16 -24.6 138 1736 2636 2568 393.3 0.3 419 14147 0.15 0.00 0.00 0.000 4134 0.110 0.000 63 1736 2602 2636 2568 0 0 0 0 0 0 13.51 13.50 13.50
14465 -0.16 -24.6 63 1736 2636 2568 394.0 -0.4 427 14467 0.15 0.00 0.00 0.000 2054 0.109 0.000 139 1736 2602 2636 2568 0 0 0 0 0 0 13.49 13.50 13.50
14785 -0.16 -24.6 139 1736 2636 2568 396.8 -1.0 435 14787 0.15 0.00 0.00 0.000 4102 0.109 0.000 63 1736 2602 2636 2568 0 0 0 0 0 0 13.49 13.50 13.50
15105 -0.16 -24.6 63 1736 2636 2568 400.8 -1.3 443 15107 0.15 0.00 0.00 0.000 2054 0.111 0.000 140 1736 2602 2636 2568 0 0 0 0 0 0 13.48 13.50 13.50
15427 -0.16 -24.6 139 1736 2636 2568 405.1 -1.3 451 15429 0.17 0.00 0.00 0.000 4102 0.099 0.000 54 1736 2602 2636 2568 0 0 0 0 0 0 13.45 13.48 13.47
15746 -0.16 -24.6 53 1735 2636 2568 408.4 -0.9 459 15748 0.17 0.00 0.00 0.000 2054 0.103 0.000 139 1736 2602 2636 2568 0 0 0 0 0 0 13.44 13.47 13.47
16061 end loiter: LOITER_COMPLETE
state 16061 begin climb
16065 0.70 73.0 139 1736 2636 2568 409.4 0.0 467 16135 0.15 0.00 67.25 1.403 12294 0.109 0.000 63 1736 2302 2399 2205 0 0 0 0 0 0 13.48 13.21 12.43
16427 0.70 73.0 63 1736 2395 2207 332.4 24.6 476 16429 0.15 0.00 0.00 0.000 2054 0.109 0.000 138 1735 2301 2395 2207 0 0 0 0 0 0 13.32 13.36 13.35
16745 0.70 73.0 138 1736 2392 2207 254.4 24.2 484 16747 0.15 0.00 0.00 0.000 4102 0.108 0.000 63 1736 2299 2392 2207 0 0 0 0 0 0 13.39 13.42 13.41
17065 0.70 73.0 63 1736 2391 2207 181.6 22.4 492 17067 0.15 0.00 0.00 0.000 2054 0.112 0.000 138 1736 2299 2391 2207 0 0 0 0 0 0 13.42 13.44 13.43
17386 0.70 73.0 138 1736 2390 2207 111.5 21.1 500 17388 0.15 0.00 0.00 0.000 4102 0.109 0.000 63 1736 2298 2390 2207 0 0 0 0 0 0 13.43 13.45 13.45
17707 0.70 73.0 62 1736 2389 2207 34.8 28.0 514 17709 0.15 0.00 0.00 0.000 2054 0.109 0.000 138 1736 2298 2389 2207 0 0 0 0 0 0 13.43 13.46 13.45
17821 end climb: SURFACE_DEPTH_REACHED
state 17821 begin surface coast
17841 end surface coast: CONTROL_FINISHED_OK
state 17841 begin surface