OKMC Jun11 * SG181 * Dive index * Mission links * Dive 795 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  795 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  52 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  40 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  1 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  320 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41867.891 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -8 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2375 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  225 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  42 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  0 PITCH_ADJ_GAIN  0.0099999998 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  15 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2500 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2100 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  111111,084325,2138.111,12028.413,39,1.2,39,-2.6 TGT_NAME  W2
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.206,0.235
_SM_DEPTHo  1.35 KALMAN_X  28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo  -54.6 KALMAN_Y  68902.1,-606.5,-201.3,102840.5,390.9
GPS2  111111,085008,2138.050,12028.365,11,1.8,11,-2.6 MHEAD_RNG_PITCHd_Wd  287.4,50462,-14.3,-10.312
SPEED_LIMITS  0.179,0.314 D_GRID  1155

Post-dive calculations and measurements:
FINISH  1.1,1.021934 _10V_AH  8.6,93.825
SM_CCo  18678,0.00,0.000,0,0,442,595.34 FG_AHR_24Vo  0.000
SM_GC  1.32,6.72,0.00,0.00,0.028,0.000,0.000,201,2521,442,-6.69,0.59,595.34,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2127.21,12035.57,111111,030314 MEM  321664
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  86821,1527
HUMID  50.11 CAP_FILE_SIZE  208811,0
INTERNAL_PRESSURE  9.36559 CFSIZE  260165632,179707904
TCM_TEMP  25.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  167 GPS  111111,140306,2138.570,12026.327,35,1.0,35,-2.6
_24V_AH  21.7,132.919

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21225105.29 SBE_CT105524549.90
Roll_motor666898.95 AA4330000.00
VBD_pump_during_apogee704105116060.45 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910364.99 nil000.00
Iridium_during_connect42160146.63 TMicro000.00
Iridium_during_xfer165223798.64 LAB000.00
Transponder_ping41420380.51 nil000.00
GUMSTIX_24V000.00
GPS13505.88
TT8373319635.80
LPSleep109572206.38
TT8_Active77219131.52
TT8_Sampling3076391052.94
TT8_CF852245205.63
TT8_Kalman000.00
Analog_circuits232012239.45
GPS_charging000.00
Compass282015363.78
RAFOS000.00
Transponder050.02

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.61 -219.0 0.0 0.0 0 92 0.00 0.00 -73.22 0.000 2 0.000 0.000 129 2500 2445 0 0 0 0 0 0
96 -0.61 -219.0 3.2 -2.7 13 143 8.60 0.85 -31.25 0.000 4 0.226 0.068 2166 3032 3762 0 0 0 0 0 0
400 -0.46 -219.0 75.2 -23.5 66 407 0.17 0.80 0.00 0.000 6 0.139 0.024 2219 2468 3761 0 0 0 0 0 0
748 -0.43 -219.0 122.0 -9.0 127 754 0.00 0.65 0.00 0.000 4 0.000 0.025 2219 1966 3760 0 0 0 0 0 0
825 -0.44 -219.0 130.7 -11.6 140 832 0.00 0.82 0.00 0.000 6 0.000 0.034 2219 2508 3760 0 0 0 0 0 0
1172 -0.53 -219.0 162.8 -8.4 201 1179 0.00 0.77 0.00 0.000 4 0.000 0.037 2219 3033 3760 0 0 0 0 0 0
1277 -0.61 -219.0 173.2 -10.7 219 1284 0.10 0.75 0.00 0.000 6 0.041 0.024 2140 2496 3761 0 0 0 0 0 0
1623 -0.63 -219.0 213.4 -11.0 270 1627 0.12 0.70 0.00 0.000 4 0.125 0.026 2179 1975 3761 0 0 0 0 0 0
1651 -0.67 -219.0 216.5 -10.7 272 1658 0.00 0.80 0.00 0.000 6 0.000 0.031 2179 2507 3761 0 0 0 0 0 0
1977 -0.73 -219.0 249.3 -9.7 303 1982 0.12 0.80 0.00 0.000 4 0.076 0.038 2098 3029 3761 0 0 0 0 0 0
2046 -0.63 -219.0 257.6 -13.2 309 2050 0.22 0.75 0.00 0.000 6 0.131 0.025 2167 2494 3760 0 0 0 0 0 0
2377 -0.68 -219.0 290.8 -10.2 340 2381 0.00 0.80 0.00 0.000 4 0.000 0.037 2165 3020 3759 0 0 0 0 0 0
2448 -0.71 -219.0 297.6 -9.4 346 2452 0.00 0.73 0.00 0.000 6 0.000 0.026 2165 2508 3759 0 0 0 0 0 0
2780 -0.76 -219.0 328.1 -9.5 377 2782 0.12 0.00 0.00 0.000 6 0.077 0.000 2088 2505 3757 0 0 0 0 0 0
3098 -0.65 -219.0 374.1 -15.7 407 3102 0.25 0.82 0.00 0.000 4 0.135 0.034 2164 3021 3754 0 0 0 0 0 0
3217 -0.68 -219.0 388.1 -11.2 417 3223 0.00 0.75 0.00 0.000 6 0.000 0.026 2163 2494 3753 0 0 0 0 0 0
3543 -0.76 -219.0 416.6 -7.1 448 3547 0.10 0.73 0.00 0.000 4 0.092 0.026 2098 1972 3751 0 0 0 0 0 0
3582 -0.74 -219.0 420.2 -8.6 451 3589 0.12 0.80 0.00 0.000 6 0.116 0.036 2135 2493 3750 0 0 0 0 0 0
3908 -0.74 -219.0 443.1 -7.2 482 3911 0.00 0.73 0.00 0.000 4 0.000 0.027 2135 1970 3748 0 0 0 0 0 0
4034 -0.74 -219.0 452.0 -6.8 493 4038 0.00 0.82 0.00 0.000 6 0.000 0.036 2133 2507 3747 0 0 0 0 0 0
4366 -0.77 -219.0 472.3 -6.2 524 4370 0.00 0.75 0.00 0.000 4 0.000 0.027 2132 1970 3744 0 0 0 0 0 0
4471 -0.75 -219.0 479.2 -6.8 533 4474 0.00 0.82 0.00 0.000 6 0.000 0.037 2129 2504 3743 0 0 0 0 0 0
4813 -0.77 -219.0 513.5 -12.5 560 4817 0.00 0.80 0.00 0.000 4 0.000 0.041 2125 3029 3740 0 0 0 0 0 0
4906 -0.78 -219.0 526.2 -13.7 564 4910 0.00 0.75 0.00 0.000 6 0.000 0.028 2125 2510 3740 0 0 0 0 0 0
5239 -0.78 -219.0 571.1 -12.9 580 5243 0.00 0.80 0.00 0.000 4 0.000 0.041 2125 3018 3737 0 0 0 0 0 0
5296 -0.76 -219.0 578.7 -12.3 582 5300 0.00 0.75 0.00 0.000 6 0.000 0.028 2125 2506 3736 0 0 0 0 0 0
5620 -0.70 -219.0 611.1 -8.5 598 5624 0.00 0.82 0.00 0.000 4 0.000 0.042 2121 3031 3733 0 0 0 0 0 0
5737 -0.64 -219.0 620.4 -7.6 603 5742 0.15 0.80 0.00 0.000 6 0.131 0.028 2168 2488 3732 0 0 0 0 0 0
6068 -0.69 -219.0 640.3 -6.2 619 6072 0.00 0.70 0.00 0.000 4 0.000 0.029 2168 1974 3731 0 0 0 0 0 0
6175 -0.75 -219.0 649.7 -8.5 623 6182 0.00 0.82 0.00 0.000 6 0.000 0.037 2166 2503 3730 0 0 0 0 0 0
6494 -0.83 -219.0 674.5 -8.2 639 6498 0.17 0.82 0.00 0.000 4 0.070 0.042 2081 3023 3728 0 0 0 0 0 0
6594 -0.73 -219.0 687.1 -14.2 643 6598 0.17 0.77 0.00 0.000 6 0.136 0.027 2134 2490 3727 0 0 0 0 0 0
6919 -0.76 -219.0 721.2 -8.6 659 6923 0.00 0.70 0.00 0.000 4 0.000 0.030 2134 1979 3725 0 0 0 0 0 0
6953 -0.79 -219.0 724.4 -8.0 660 6957 0.00 0.80 0.00 0.000 6 0.000 0.037 2132 2494 3725 0 0 0 0 0 0
7277 -0.81 -219.0 744.9 -5.1 676 7281 0.00 0.73 0.00 0.000 4 0.000 0.028 2132 1979 3723 0 0 0 0 0 0
7414 -0.81 -219.0 751.5 -4.7 682 7417 0.00 0.82 0.00 0.000 6 0.000 0.039 2129 2504 3723 0 0 0 0 0 0
7749 -0.84 -219.0 771.9 -6.5 698 7753 0.00 0.75 0.00 0.000 4 0.000 0.030 2129 1978 3721 0 0 0 0 0 0
7776 -0.86 -219.0 773.6 -6.2 699 7779 0.00 0.82 0.00 0.000 6 0.000 0.040 2126 2500 3721 0 0 0 0 0 0
8109 -0.88 -219.0 799.3 -8.2 715 8114 0.12 0.77 0.00 0.000 4 0.084 0.032 2066 1976 3719 0 0 0 0 0 0
8260 -0.78 -219.0 819.8 -14.2 721 8268 0.17 0.82 0.00 0.000 6 0.132 0.042 2117 2494 3718 0 0 0 0 0 0
8578 -0.73 -219.0 861.5 -13.7 737 8582 0.00 0.82 0.00 0.000 4 0.000 0.045 2114 3020 3717 0 0 0 0 0 0
8673 -0.67 -219.0 874.9 -13.1 741 8678 0.10 0.75 0.00 0.000 6 0.132 0.029 2147 2515 3716 0 0 0 0 0 0
9003 -0.72 -219.0 910.5 -10.6 757 9006 0.00 0.82 0.00 0.000 4 0.000 0.043 2144 3034 3715 0 0 0 0 0 0
9083 -0.75 -219.0 919.3 -11.2 760 9086 0.00 0.80 0.00 0.000 6 0.000 0.029 2144 2500 3715 0 0 0 0 0 0
9405 -0.82 -219.0 952.9 -10.3 776 9408 0.00 0.85 0.00 0.000 4 0.000 0.043 2141 3030 3713 0 0 0 0 0 0
9476 -0.84 -219.0 959.9 -10.0 779 9480 0.08 0.80 0.00 0.000 6 0.057 0.028 2094 2496 3712 0 0 0 0 0 0
9723 end dive: TARGET_DEPTH_EXCEEDED
state 9723 begin apogee
9730 -0.19 0.0 991.4 12.7 791 9911 0.70 0.00 173.82 1.051 6 0.126 0.000 2305 2082 2869 0 0 0 0 0 0
9912 end apogee: CONTROL_FINISHED_OK
state 9912 begin climb
9915 0.61 219.0 1002.3 0.0 799 10115 0.77 1.02 193.40 1.028 4 0.049 0.036 2580 2637 1976 0 0 0 0 0 0
10166 0.50 219.0 989.0 12.7 811 10175 0.15 0.88 0.00 0.000 6 0.151 0.028 2545 2122 1974 0 0 0 0 0 0
10484 0.43 219.0 955.3 10.9 827 10488 0.00 0.88 0.00 0.000 4 0.000 0.034 2547 1567 1973 0 0 0 0 0 0
10568 0.36 219.0 946.0 10.5 830 10575 0.17 0.88 0.00 0.000 6 0.137 0.032 2496 2113 1973 0 0 0 0 0 0
10886 0.49 318.8 921.3 7.1 846 10972 0.10 0.00 83.47 0.991 6 0.098 0.000 2544 2114 1569 0 0 0 0 0 0
11278 0.58 412.5 891.0 7.3 865 11365 0.00 0.90 78.85 0.968 4 0.000 0.032 2547 1567 1187 0 0 0 0 0 0
11453 0.71 508.4 877.8 7.3 872 11548 0.15 0.88 85.03 0.949 6 0.049 0.031 2619 2094 795 0 0 0 0 0 0
11853 0.68 508.4 833.4 11.1 892 11856 0.00 0.82 0.00 0.000 4 0.000 0.034 2622 1567 801 0 0 0 0 0 0
11926 0.65 508.4 825.0 11.5 895 11930 0.12 0.85 0.00 0.000 6 0.125 0.031 2583 2108 802 0 0 0 0 0 0
12257 0.87 636.1 801.5 6.2 911 12344 0.20 0.93 75.10 0.923 4 0.070 0.032 2676 1570 439 0 0 0 0 0 0
12419 0.82 636.1 781.3 12.3 918 12425 0.10 0.88 2.20 0.207 6 0.122 0.033 2645 2094 440 0 0 0 0 0 0
12744 0.80 636.1 740.5 12.5 934 12748 0.00 0.82 0.00 0.000 4 0.000 0.035 2646 1558 439 0 0 0 0 0 0
12852 0.77 636.1 726.4 12.9 938 12859 0.00 0.85 0.00 0.000 6 0.000 0.031 2647 2106 439 0 0 0 0 0 0
13169 0.76 636.1 683.1 13.7 954 13172 0.00 0.77 0.00 0.000 4 0.000 0.037 2646 2622 440 0 0 0 0 0 0
13254 0.72 636.1 670.0 15.8 957 13262 0.12 0.80 0.03 0.190 6 0.130 0.033 2609 2098 439 0 0 0 0 0 0
13573 0.88 636.1 628.6 13.5 973 13577 0.15 0.85 0.00 0.000 4 0.091 0.036 2663 2626 440 0 0 0 0 0 0
13682 0.81 636.1 612.5 18.3 977 13690 0.08 0.80 0.03 0.187 6 0.137 0.031 2642 2101 439 0 0 0 0 0 0
14001 0.84 636.1 570.6 11.5 993 14005 0.00 0.77 0.00 0.000 4 0.000 0.038 2645 1583 440 0 0 0 0 0 0
14064 0.92 646.7 563.9 10.0 995 14071 0.00 0.80 0.22 0.100 6 0.000 0.031 2646 2104 440 0 0 0 0 0 0
14383 1.00 668.5 535.4 9.6 1011 14388 0.15 0.80 0.03 0.321 4 0.079 0.037 2717 2622 440 0 0 0 0 0 0
14462 0.90 668.5 523.3 17.8 1014 14468 0.17 0.80 0.10 0.112 6 0.142 0.033 2667 2098 440 0 0 0 0 0 0
14789 0.95 668.5 477.4 14.0 1037 14793 0.00 0.80 0.00 0.000 4 0.000 0.034 2667 2625 441 0 0 0 0 0 0
14801 0.99 668.5 475.6 14.2 1038 14806 0.00 0.80 0.22 0.098 6 0.000 0.032 2668 2100 441 0 0 0 0 0 0
15133 1.01 668.5 429.3 13.4 1069 15137 0.00 0.77 0.00 0.000 4 0.000 0.037 2672 1579 440 0 0 0 0 0 0
15161 1.03 668.5 425.3 13.4 1071 15168 0.00 0.80 0.25 0.096 6 0.000 0.031 2672 2102 440 0 0 0 0 0 0
15487 1.08 673.6 385.9 10.1 1102 15492 0.15 0.85 0.73 0.093 4 0.076 0.031 2746 1573 441 0 0 0 0 0 0
15605 0.99 673.6 369.8 15.5 1112 15610 0.15 0.80 0.20 0.096 6 0.135 0.033 2700 2096 441 0 0 0 0 0 0
15936 0.95 673.6 330.8 12.3 1143 15945 0.00 0.00 2.20 0.193 6 0.000 0.000 2701 2096 440 0 0 0 0 0 0
16264 0.95 673.6 281.3 15.5 1174 16268 0.00 0.77 0.00 0.000 4 0.000 0.034 2702 1575 440 0 0 0 0 0 0
16326 0.91 673.6 271.4 16.1 1179 16334 0.10 0.80 0.17 0.098 6 0.126 0.030 2669 2108 441 0 0 0 0 0 0
16652 0.96 673.6 230.6 12.7 1210 16656 0.00 0.85 0.28 0.113 4 0.000 0.031 2670 1570 441 0 0 0 0 0 0
16793 1.00 673.6 212.6 12.0 1222 16799 0.00 0.80 0.00 0.000 6 0.000 0.031 2670 2093 441 0 0 0 0 0 0
17133 1.12 687.8 175.5 9.9 1273 17141 0.17 0.82 2.42 0.222 4 0.071 0.035 2757 1571 439 0 0 0 0 0 0
17199 1.12 687.8 166.9 13.5 1284 17206 0.00 0.80 0.00 0.000 6 0.000 0.031 2757 2100 440 0 0 0 0 0 0
17546 1.12 687.8 115.9 13.9 1345 17552 0.00 0.80 0.00 0.000 4 0.000 0.035 2760 1571 440 0 0 0 0 0 0
17560 1.12 687.8 114.0 13.7 1347 17567 0.00 0.80 0.15 0.099 6 0.000 0.031 2760 2096 440 0 0 0 0 0 0
17909 1.20 748.8 79.6 8.4 1408 17917 0.00 0.82 0.57 0.090 4 0.000 0.029 2763 1574 441 0 0 0 0 0 0
18017 1.16 748.8 68.4 11.6 1426 18025 0.00 0.80 2.20 0.155 6 0.000 0.028 2763 2117 439 0 0 0 0 0 0
18367 1.12 748.8 24.9 13.4 1487 18375 0.00 0.77 2.38 0.182 4 0.000 0.036 2763 2617 440 0 0 0 0 0 0
18394 1.09 748.8 21.5 11.9 1491 18402 0.12 0.77 0.08 0.114 6 0.128 0.031 2726 2093 440 0 0 0 0 0 0
18571 end climb: SURFACE_DEPTH_REACHED
state 18571 begin surface coast
18600 end surface coast: CONTROL_FINISHED_OK
state 18600 begin surface